Merge pull request 'Scheduling Table for std runtimes' (#210 ) from scheduling-table into main

Reviewed-on: #210
changelog
2024-11-20 17:22:08 +01:00 · 2024-11-20 17:21:54 +01:00 · 2024-11-20 17:20:42 +01:00 · 2024-11-15 12:15:06 +01:00 · 2024-11-15 12:14:33 +01:00 · 2024-11-15 12:08:27 +01:00
157 changed files with 118107 additions and 6285 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -0,0 +1,64 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo check --release
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc --all-features
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo fmt --all -- --check
+
+  docs:
+    name: Check Documentation Build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo clippy -- -D warnings
--- a/.gitignore
+++ b/.gitignore
@ -2,6 +2,7 @@ target/

 output.log
 /Cargo.lock
+output.log

 output.log

--- a/Cargo.toml
+++ b/Cargo.toml
@ -9,6 +9,6 @@ members = [
 ]

 exclude = [
-    "satrs-example-stm32f3-disco",
+    "embedded-examples/stm32f3-disco-rtic",
+    "embedded-examples/stm32h7-rtic",
 ]
-
--- a/README.md
+++ b/README.md
@ -37,16 +37,24 @@ This project currently contains following crates:
 * [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
   Example of a simple example on-board software using various sat-rs components which can be run
   on a host computer or on any system with a standard runtime like a Raspberry Pi.
+* [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim):
+   Mini-Simulator based on [asynchronix](https://github.com/asynchronics/asynchronix) which
+   simulates some physical devices for the `satrs-example` application device handlers.
 * [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
   Components to build a mission information base from the on-board software directly.
-* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
+* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32f3-disco-rtic):
   Example of a simple example using low-level sat-rs components on a bare-metal system
-   with constrained resources.
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32F3-Discovery device.
+* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/stm32h7-nucleo-rtic):
+   Example of a simple example using sat-rs components on a bare-metal system
+   with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
+   framework on the STM32H743ZIT device.

 Each project has its own `CHANGELOG.md`.

 # Related projects
- 
+
 In addition to the crates in this repository, the sat-rs project also maintains other libraries.

 * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
@ -54,6 +62,21 @@ Each project has its own `CHANGELOG.md`.
   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
   crate.

+# Flight Heritage
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
+- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
+  alongside a Flight System Simulator in the context of a
+  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
+
 # Coverage

 Coverage was generated using [`grcov`](https://github.com/mozilla/grcov). If you have not done so
@ -64,5 +87,5 @@ rustup component add llvm-tools-preview
 cargo install grcov --locked
 ```

-After that, you can simply run `coverage.py` to test the `satrs-core` crate with coverage. You can
+After that, you can simply run `coverage.py` to test the `satrs` crate with coverage. You can
 optionally supply the `--open` flag to open the coverage report in your webbrowser.
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -33,6 +33,7 @@ pipeline {
    stage('Test') {
      steps {
        sh 'cargo nextest r --all-features'
+        sh 'cargo test --doc --all-features'
      }
    }
    stage('Check with all features') {
--- a/embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml
+++ b/embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml
--- a/embedded-examples/stm32f3-disco-rtic/.gitignore
+++ b/embedded-examples/stm32f3-disco-rtic/.gitignore
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.lock
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.lock
@ -22,9 +22,9 @@ dependencies = [

 [[package]]
 name = "autocfg"
-version = "1.2.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"

 [[package]]
 name = "bare-metal"
@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"

 [[package]]
 name = "chrono"
-version = "0.4.37"
+version = "0.4.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
+checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
 dependencies = [
 "num-traits",
 ]

+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "cobs"
 version = "0.2.3"
@ -115,9 +121,9 @@ dependencies = [

 [[package]]
 name = "cortex-m-rt"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
 dependencies = [
 "cortex-m-rt-macros",
 ]
@ -144,9 +150,9 @@ dependencies = [

 [[package]]
 name = "crc"
-version = "3.0.1"
+version = "3.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
 dependencies = [
 "crc-catalog",
 ]
@ -165,9 +171,9 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"

 [[package]]
 name = "darling"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
+checksum = "83b2eb4d90d12bdda5ed17de686c2acb4c57914f8f921b8da7e112b5a36f3fe1"
 dependencies = [
 "darling_core",
 "darling_macro",
@ -175,33 +181,33 @@ dependencies = [

 [[package]]
 name = "darling_core"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
+checksum = "622687fe0bac72a04e5599029151f5796111b90f1baaa9b544d807a5e31cd120"
 dependencies = [
 "fnv",
 "ident_case",
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
 name = "darling_macro"
-version = "0.20.8"
+version = "0.20.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
+checksum = "733cabb43482b1a1b53eee8583c2b9e8684d592215ea83efd305dd31bc2f0178"
 dependencies = [
 "darling_core",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
 name = "defmt"
-version = "0.3.6"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
 dependencies = [
 "bitflags",
 "defmt-macros",
@ -219,15 +225,15 @@ dependencies = [

 [[package]]
 name = "defmt-macros"
-version = "0.3.7"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
 dependencies = [
 "defmt-parser",
 "proc-macro-error",
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
@ -273,6 +279,17 @@ dependencies = [
 "syn 1.0.109",
 ]

+[[package]]
+name = "derive-new"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.65",
+]
+
 [[package]]
 name = "embedded-dma"
 version = "0.2.0"
@ -325,7 +342,7 @@ dependencies = [
 "darling",
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
@ -409,9 +426,9 @@ dependencies = [

 [[package]]
 name = "hashbrown"
-version = "0.14.3"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"

 [[package]]
 name = "heapless"
@ -507,9 +524,9 @@ dependencies = [

 [[package]]
 name = "num-iter"
-version = "0.1.44"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
 dependencies = [
 "autocfg",
 "num-integer",
@ -529,9 +546,9 @@ dependencies = [

 [[package]]
 name = "num-traits"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
 "autocfg",
 ]
@ -553,14 +570,14 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
 name = "panic-probe"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
 dependencies = [
 "cortex-m",
 "defmt",
@ -568,9 +585,9 @@ dependencies = [

 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"

 [[package]]
 name = "pin-project-lite"
@ -610,18 +627,18 @@ dependencies = [

 [[package]]
 name = "proc-macro2"
-version = "1.0.79"
+version = "1.0.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
+checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
 dependencies = [
 "unicode-ident",
 ]

 [[package]]
 name = "quote"
-version = "1.0.35"
+version = "1.0.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
 dependencies = [
 "proc-macro2",
 ]
@ -674,7 +691,7 @@ dependencies = [
 "proc-macro-error",
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
@ -717,16 +734,20 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.22",
+ "semver 1.0.23",
 ]

 [[package]]
 name = "satrs"
-version = "0.2.0-rc.0"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
 "crc",
+ "defmt",
 "delegate",
+ "derive-new",
 "num-traits",
 "num_enum",
 "paste",
@ -736,10 +757,19 @@ dependencies = [
 ]

 [[package]]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 dependencies = [
- "cobs",
+ "cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
 "cortex-m",
 "cortex-m-rt",
 "cortex-m-semihosting",
@ -757,13 +787,6 @@ dependencies = [
 "stm32f3xx-hal",
 ]

-[[package]]
-name = "satrs-shared"
-version = "0.1.3"
-dependencies = [
- "spacepackets",
-]
-
 [[package]]
 name = "semver"
 version = "0.9.0"
@ -775,9 +798,9 @@ dependencies = [

 [[package]]
 name = "semver"
-version = "1.0.22"
+version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"

 [[package]]
 name = "semver-parser"
@ -799,9 +822,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"

 [[package]]
 name = "spacepackets"
-version = "0.11.0-rc.2"
+version = "0.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
 dependencies = [
 "crc",
 "defmt",
@ -899,9 +922,9 @@ dependencies = [

 [[package]]
 name = "syn"
-version = "2.0.58"
+version = "2.0.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
+checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
 dependencies = [
 "proc-macro2",
 "quote",
@ -910,22 +933,22 @@ dependencies = [

 [[package]]
 name = "thiserror"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
 dependencies = [
 "thiserror-impl",
 ]

 [[package]]
 name = "thiserror-impl"
-version = "1.0.58"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]

 [[package]]
@ -975,9 +998,9 @@ dependencies = [

 [[package]]
 name = "zerocopy"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
 "byteorder",
 "zerocopy-derive",
@ -985,11 +1008,11 @@ dependencies = [

 [[package]]
 name = "zerocopy-derive"
-version = "0.7.32"
+version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
 "proc-macro2",
 "quote",
- "syn 2.0.58",
+ "syn 2.0.65",
 ]
--- a/embedded-examples/stm32f3-disco-rtic/Cargo.toml
+++ b/embedded-examples/stm32f3-disco-rtic/Cargo.toml
@ -1,8 +1,8 @@
 [package]
-name = "satrs-example-stm32f3-disco"
+name = "satrs-stm32f3-disco-rtic"
 version = "0.1.0"
 edition = "2021"
-default-run = "satrs-example-stm32f3-disco"
+default-run = "satrs-stm32f3-disco-rtic"

 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

@ -46,7 +46,8 @@ branch = "complete-dma-update-hal"
 # path = "../stm32f3-discovery"

 [dependencies.satrs]
-path = "../satrs"
+# path = "satrs"
+version = "0.2"
 default-features = false
 features = ["defmt"]

--- a/embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE
+++ b/embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE
--- a/embedded-examples/stm32f3-disco-rtic/NOTICE
+++ b/embedded-examples/stm32f3-disco-rtic/NOTICE
--- a/embedded-examples/stm32f3-disco-rtic/README.md
+++ b/embedded-examples/stm32f3-disco-rtic/README.md
@ -1,10 +1,10 @@
 sat-rs example for the STM32F3-Discovery board
 =======

-This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 can be used on an embedded target.
 It also shows how a relatively simple OBSW could be built when no standard runtime is available.
-It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
 [defmt](https://defmt.ferrous-systems.com/) framework for logging.

 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
--- a/embedded-examples/stm32f3-disco-rtic/STM32F303.svd
+++ b/embedded-examples/stm32f3-disco-rtic/STM32F303.svd
--- a/embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
--- a/embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
--- a/embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
+++ b/embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
--- a/embedded-examples/stm32f3-disco-rtic/memory.x
+++ b/embedded-examples/stm32f3-disco-rtic/memory.x
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/main.py
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/main.py
@ -9,7 +9,7 @@ from prompt_toolkit.history import FileHistory, History
 from spacepackets.ecss.tm import CdsShortTimestamp

 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm

@ -43,7 +43,7 @@ from tmtccmd.tmtc import (
    DefaultPusQueueHelper,
 )
 from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT

 _LOGGER = logging.getLogger()
@ -53,7 +53,7 @@ EXAMPLE_PUS_APID = 0x02

 class SatRsConfigHook(HookBase):
    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)

    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
        from tmtccmd.config.com import (
@ -111,9 +111,10 @@ class PusHandler(SpecificApidHandlerBase):
        self.verif_wrapper = verif_wrapper

    def handle_tm(self, packet: bytes, _user_args: Any):
-        time_reader = CdsShortTimestamp.empty()
        try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
        except ValueError as e:
            _LOGGER.warning("Could not generate PUS TM object from raw data")
            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
@ -122,7 +123,7 @@ class PusHandler(SpecificApidHandlerBase):
        tm_packet = None
        if service == 1:
            tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(time_reader, 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
            )
            res = self.verif_wrapper.add_tm(tm_packet)
            if res is None:
@ -139,16 +140,16 @@ class PusHandler(SpecificApidHandlerBase):
        if service == 3:
            _LOGGER.info("No handling for HK packets implemented")
            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
            if pus_tm.subservice == 25:
                if len(pus_tm.source_data) < 8:
                    raise ValueError("No addressable ID in HK packet")
                json_str = pus_tm.source_data[8:]
                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
        if service == 5:
-            tm_packet = Service5Tm.unpack(packet, time_reader)
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
        if service == 17:
-            tm_packet = Service17Tm.unpack(packet, time_reader)
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
            if tm_packet.subservice == 2:
                _LOGGER.info("Received Ping Reply TM[17,2]")
            else:
@ -159,7 +160,7 @@ class PusHandler(SpecificApidHandlerBase):
            _LOGGER.info(
                f"The service {service} is not implemented in Telemetry Factory"
            )
-            tm_packet = PusTelemetry.unpack(packet, time_reader)
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
        self.raw_logger.log_tm(pus_tm)


@ -203,15 +204,15 @@ class TcHandler(TcHandlerBase):
            _LOGGER.info(log_entry.log_str)

    def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")

    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
        q = self.queue_helper
        q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
            cmd_path = def_proc.cmd_path
            if cmd_path == "/ping":
                q.add_log_cmd("Sending PUS ping telecommand")
--- a/embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
+++ b/embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc.0
+tmtccmd == 8.0.1
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
--- a/embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
@ -1,6 +1,6 @@
 #![no_std]
 #![no_main]
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;

 use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
--- a/embedded-examples/stm32f3-disco-rtic/src/lib.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/lib.rs
--- a/embedded-examples/stm32f3-disco-rtic/src/main.rs
+++ b/embedded-examples/stm32f3-disco-rtic/src/main.rs
@ -9,7 +9,7 @@ use satrs::spacepackets::ecss::EcssEnumU16;
 use satrs::spacepackets::CcsdsPacket;
 use satrs::spacepackets::{ByteConversionError, SpHeader};
 // global logger + panicking-behavior + memory layout
-use satrs_example_stm32f3_disco as _;
+use satrs_stm32f3_disco_rtic as _;

 use rtic::app;

--- a/embedded-examples/stm32f3-disco-rtic/vscode/.gitignore
+++ b/embedded-examples/stm32f3-disco-rtic/vscode/.gitignore
--- a/embedded-examples/stm32f3-disco-rtic/vscode/extensions.json
+++ b/embedded-examples/stm32f3-disco-rtic/vscode/extensions.json
--- a/embedded-examples/stm32f3-disco-rtic/vscode/launch.json
+++ b/embedded-examples/stm32f3-disco-rtic/vscode/launch.json
@ -12,11 +12,11 @@
      "chip": "STM32F303VCTx",
      "coreConfigs": [
        {
-          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
          "rttEnabled": true,
          "svdFile": "STM32F303.svd"
        }
      ]
    }
  ]
-}
+}
--- a/embedded-examples/stm32f3-disco-rtic/vscode/openocd-helpers.tcl
+++ b/embedded-examples/stm32f3-disco-rtic/vscode/openocd-helpers.tcl
--- a/embedded-examples/stm32f3-disco-rtic/vscode/tasks.json
+++ b/embedded-examples/stm32f3-disco-rtic/vscode/tasks.json
--- a/embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml
@ -0,0 +1,29 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs run --chip STM32H743ZITx"
+# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
+
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+  # Can be useful for debugging.
+  # "-Clink-args=-Map=app.map"
+]
+
+[build]
+# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
+# target improves performance)
+# target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"    # Cortex-M3
+# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
+
+[env]
+DEFMT_LOG = "info"
--- a/embedded-examples/stm32h7-nucleo-rtic/.gitignore
+++ b/embedded-examples/stm32h7-nucleo-rtic/.gitignore
@ -0,0 +1,4 @@
+/target
+/.cargo/config*
+/.vscode
+/app.map
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
@ -0,0 +1,881 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "atomic-polyfill"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+
+[[package]]
+name = "bare-metal"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
+dependencies = [
+ "rustc_version 0.2.3",
+]
+
+[[package]]
+name = "bare-metal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
+[[package]]
+name = "bitflags"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "cast"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+
+[[package]]
+name = "cortex-m"
+version = "0.7.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
+dependencies = [
+ "bare-metal 0.2.5",
+ "bitfield",
+ "critical-section",
+ "embedded-hal 0.2.7",
+ "volatile-register",
+]
+
+[[package]]
+name = "cortex-m-rt"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
+dependencies = [
+ "cortex-m-rt-macros",
+]
+
+[[package]]
+name = "cortex-m-rt-macros"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "cortex-m-semihosting"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
+dependencies = [
+ "cortex-m",
+]
+
+[[package]]
+name = "crc"
+version = "3.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
+dependencies = [
+ "crc-catalog",
+]
+
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
+[[package]]
+name = "critical-section"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+
+[[package]]
+name = "defmt"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+dependencies = [
+ "bitflags",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-brtt"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "defmt-test"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
+dependencies = [
+ "cortex-m-rt",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-test-macros",
+]
+
+[[package]]
+name = "defmt-test-macros"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "delegate"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "derive-new"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "embedded-alloc"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
+dependencies = [
+ "critical-section",
+ "linked_list_allocator",
+]
+
+[[package]]
+name = "embedded-dma"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
+dependencies = [
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+dependencies = [
+ "nb 0.1.3",
+ "void",
+]
+
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+dependencies = [
+ "defmt",
+]
+
+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "defmt",
+ "embedded-hal 1.0.0",
+]
+
+[[package]]
+name = "embedded-hal-bus"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57b4e6ede84339ebdb418cd986e6320a34b017cdf99b5cc3efceec6450b06886"
+dependencies = [
+ "critical-section",
+ "defmt",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+]
+
+[[package]]
+name = "embedded-storage"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "fugit"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
+dependencies = [
+ "gcd",
+]
+
+[[package]]
+name = "futures-core"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
+
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.14.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.0",
+ "spin",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "defmt",
+ "hash32 0.3.1",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "indexmap"
+version = "2.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+dependencies = [
+ "equivalent",
+ "hashbrown",
+]
+
+[[package]]
+name = "linked_list_allocator"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
+
+[[package]]
+name = "lock_api"
+version = "0.4.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+dependencies = [
+ "autocfg",
+ "scopeguard",
+]
+
+[[package]]
+name = "managed"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d"
+
+[[package]]
+name = "nb"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
+dependencies = [
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "nb"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
+
+[[package]]
+name = "num-traits"
+version = "0.2.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "num_enum"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "panic-probe"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
+dependencies = [
+ "cortex-m",
+ "defmt",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
+[[package]]
+name = "portable-atomic"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
+name = "proc-macro-error"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+dependencies = [
+ "proc-macro-error-attr",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro-error-attr"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "version_check",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.82"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ad3d49ab951a01fbaafe34f2ec74122942fe18a3f9814c3268f1bb72042131b"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "rtic-core"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
+
+[[package]]
+name = "rtic-macros"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-sync"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49b1200137ccb2bf272a1801fa6e27264535facd356cb2c1d5bc8e12aa211bad"
+dependencies = [
+ "critical-section",
+ "defmt",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-hal-bus",
+ "heapless 0.8.0",
+ "portable-atomic",
+ "rtic-common",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+dependencies = [
+ "semver 1.0.23",
+]
+
+[[package]]
+name = "satrs"
+version = "0.2.1"
+dependencies = [
+ "cobs",
+ "crc",
+ "defmt",
+ "delegate",
+ "derive-new",
+ "heapless 0.7.17",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "satrs-shared",
+ "smallvec",
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-shared"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
+dependencies = [
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-stm32h7-nucleo-rtic"
+version = "0.1.0"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-brtt",
+ "defmt-test",
+ "embedded-alloc",
+ "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "rtic-sync",
+ "satrs",
+ "smoltcp",
+ "stm32h7xx-hal",
+]
+
+[[package]]
+name = "scopeguard"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "smallvec"
+version = "1.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "smoltcp"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a1a996951e50b5971a2c8c0fa05a381480d70a933064245c4a223ddc87ccc97"
+dependencies = [
+ "bitflags",
+ "byteorder",
+ "cfg-if",
+ "defmt",
+ "heapless 0.8.0",
+ "managed",
+]
+
+[[package]]
+name = "spacepackets"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
+dependencies = [
+ "crc",
+ "defmt",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "zerocopy",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+
+[[package]]
+name = "stm32h7"
+version = "0.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "362f288cd8341e9209587b889c385f323e82fc237b60c272868965bb879bb9b1"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "cortex-m-rt",
+ "vcell",
+]
+
+[[package]]
+name = "stm32h7xx-hal"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bd869329be25440b24e2b3583a1c016151b4a54bc36d96d82af7fcd9d010b98"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cast",
+ "cortex-m",
+ "embedded-dma",
+ "embedded-hal 0.2.7",
+ "embedded-storage",
+ "fugit",
+ "nb 1.1.0",
+ "paste",
+ "smoltcp",
+ "stm32h7",
+ "void",
+]
+
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.64"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7ad3dee41f36859875573074334c200d1add8e4a87bb37113ebd31d926b7b11f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.61"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.61"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+dependencies = [
+ "vcell",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.64",
+]
--- a/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
+++ b/embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
@ -0,0 +1,85 @@
+[package]
+authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
+name = "satrs-stm32h7-nucleo-rtic"
+edition = "2021"
+version = "0.1.0"
+default-run = "satrs-stm32h7-nucleo-rtic"
+
+[lib]
+harness = false
+
+# needed for each integration test
+[[test]]
+name = "integration"
+harness = false
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+cortex-m-semihosting = "0.5.0"
+stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
+embedded-alloc = "0.5"
+rtic-sync = { version = "1", features = ["defmt-03"] }
+
+[dependencies.smoltcp]
+version = "0.11.0"
+default-features = false
+features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
+
+[dependencies.satrs]
+path = "../../satrs"
+version = "0.2"
+default-features = false
+features = ["defmt", "heapless"]
+
+[dev-dependencies]
+defmt-test = "0.3"
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 's'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
--- a/embedded-examples/stm32h7-nucleo-rtic/LICENSE-APACHE
+++ b/embedded-examples/stm32h7-nucleo-rtic/LICENSE-APACHE
@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
+   Object form, made available under the License, as indicated by a
+   copyright notice that is included in or attached to the work
+   (an example is provided in the Appendix below).
+
+   "Derivative Works" shall mean any work, whether in Source or Object
+   form, that is based on (or derived from) the Work and for which the
+   editorial revisions, annotations, elaborations, or other modifications
+   represent, as a whole, an original work of authorship. For the purposes
+   of this License, Derivative Works shall not include works that remain
+   separable from, or merely link (or bind by name) to the interfaces of,
+   the Work and Derivative Works thereof.
+
+   "Contribution" shall mean any work of authorship, including
+   the original version of the Work and any modifications or additions
+   to that Work or Derivative Works thereof, that is intentionally
+   submitted to Licensor for inclusion in the Work by the copyright owner
+   or by an individual or Legal Entity authorized to submit on behalf of
+   the copyright owner. For the purposes of this definition, "submitted"
+   means any form of electronic, verbal, or written communication sent
+   to the Licensor or its representatives, including but not limited to
+   communication on electronic mailing lists, source code control systems,
+   and issue tracking systems that are managed by, or on behalf of, the
+   Licensor for the purpose of discussing and improving the Work, but
+   excluding communication that is conspicuously marked or otherwise
+   designated in writing by the copyright owner as "Not a Contribution."
+
+   "Contributor" shall mean Licensor and any individual or Legal Entity
+   on behalf of whom a Contribution has been received by Licensor and
+   subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   copyright license to reproduce, prepare Derivative Works of,
+   publicly display, publicly perform, sublicense, and distribute the
+   Work and such Derivative Works in Source or Object form.
+
+3. Grant of Patent License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   (except as stated in this section) patent license to make, have made,
+   use, offer to sell, sell, import, and otherwise transfer the Work,
+   where such license applies only to those patent claims licensable
+   by such Contributor that are necessarily infringed by their
+   Contribution(s) alone or by combination of their Contribution(s)
+   with the Work to which such Contribution(s) was submitted. If You
+   institute patent litigation against any entity (including a
+   cross-claim or counterclaim in a lawsuit) alleging that the Work
+   or a Contribution incorporated within the Work constitutes direct
+   or contributory patent infringement, then any patent licenses
+   granted to You under this License for that Work shall terminate
+   as of the date such litigation is filed.
+
+4. Redistribution. You may reproduce and distribute copies of the
+   Work or Derivative Works thereof in any medium, with or without
+   modifications, and in Source or Object form, provided that You
+   meet the following conditions:
+
+   (a) You must give any other recipients of the Work or
+       Derivative Works a copy of this License; and
+
+   (b) You must cause any modified files to carry prominent notices
+       stating that You changed the files; and
+
+   (c) You must retain, in the Source form of any Derivative Works
+       that You distribute, all copyright, patent, trademark, and
+       attribution notices from the Source form of the Work,
+       excluding those notices that do not pertain to any part of
+       the Derivative Works; and
+
+   (d) If the Work includes a "NOTICE" text file as part of its
+       distribution, then any Derivative Works that You distribute must
+       include a readable copy of the attribution notices contained
+       within such NOTICE file, excluding those notices that do not
+       pertain to any part of the Derivative Works, in at least one
+       of the following places: within a NOTICE text file distributed
+       as part of the Derivative Works; within the Source form or
+       documentation, if provided along with the Derivative Works; or,
+       within a display generated by the Derivative Works, if and
+       wherever such third-party notices normally appear. The contents
+       of the NOTICE file are for informational purposes only and
+       do not modify the License. You may add Your own attribution
+       notices within Derivative Works that You distribute, alongside
+       or as an addendum to the NOTICE text from the Work, provided
+       that such additional attribution notices cannot be construed
+       as modifying the License.
+
+   You may add Your own copyright statement to Your modifications and
+   may provide additional or different license terms and conditions
+   for use, reproduction, or distribution of Your modifications, or
+   for any such Derivative Works as a whole, provided Your use,
+   reproduction, and distribution of the Work otherwise complies with
+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
+   the Work or Derivative Works thereof, You may choose to offer,
+   and charge a fee for, acceptance of support, warranty, indemnity,
+   or other liability obligations and/or rights consistent with this
+   License. However, in accepting such obligations, You may act only
+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
+
+APPENDIX: How to apply the Apache License to your work.
+
+   To apply the Apache License to your work, attach the following
+   boilerplate notice, with the fields enclosed by brackets "[]"
+   replaced with your own identifying information. (Don't include
+   the brackets!)  The text should be enclosed in the appropriate
+   comment syntax for the file format. We also recommend that a
+   file or class name and description of purpose be included on the
+   same "printed page" as the copyright notice for easier
+   identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+	http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
--- a/embedded-examples/stm32h7-nucleo-rtic/README.md
+++ b/embedded-examples/stm32h7-nucleo-rtic/README.md
@ -0,0 +1,118 @@
+sat-rs example for the STM32H73ZI-Nucleo board
+=======
+
+This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/2/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
+
+The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
+available for STM with which also has a little bit more RAM available and also allows commanding
+via TCP/IP.
+
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
+## Preparing Rust and the repository
+
+Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
+If you have not installed it yet, you can do so with
+
+```sh
+rustup target add thumbv7em-none-eabihf
+```
+
+A default `.cargo` config file is provided for this project, but needs to be copied to have
+the correct name. This is so that the config file can be updated or edited for custom needs
+without being tracked by git.
+
+```sh
+cp def_config.toml config.toml
+```
+
+The configuration file will also set the target so it does not always have to be specified with
+the `--target` argument.
+
+## Building
+
+After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
+you can simply build the application with
+
+```sh
+cargo build
+```
+
+## Flashing from the command line
+
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32H743ZITx
+```
+
+## Debugging with VS Code
+
+The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
+
+Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
+to automatically rebuild and flash your application.
+
+The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
+the folder in VS code or adding it to a workspace.
+
+## Commanding with Python
+
+When the SW is running on the Discovery board, you can command the MCU via a serial interface,
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.
+
+## Resources
+
+- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
+- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)
--- a/embedded-examples/stm32h7-nucleo-rtic/STM32H743.svd
+++ b/embedded-examples/stm32h7-nucleo-rtic/STM32H743.svd
--- a/embedded-examples/stm32h7-nucleo-rtic/docs/stm32h743bi.pdf
+++ b/embedded-examples/stm32h7-nucleo-rtic/docs/stm32h743bi.pdf
--- a/embedded-examples/stm32h7-nucleo-rtic/docs/um1974-stm32-nucleo144-boards-mb1137-stmicroelectronics.pdf
+++ b/embedded-examples/stm32h7-nucleo-rtic/docs/um1974-stm32-nucleo144-boards-mb1137-stmicroelectronics.pdf
--- a/embedded-examples/stm32h7-nucleo-rtic/memory.x
+++ b/embedded-examples/stm32h7-nucleo-rtic/memory.x
@ -0,0 +1,119 @@
+/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
+/* flip-link */
+MEMORY
+{
+  /* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
+  /* with the exception of the STM32H742/742v parts which have a different RAM layout. */
+  /* - FLASH and RAM are mandatory memory sections.                                    */
+  /* - The sum of all non-FLASH sections must add to 1060K total device RAM.           */
+  /* - The FLASH section size must match your device, see table below.                 */
+
+  /* FLASH */
+  /* Flash is divided in two independent banks (except 750xB). */
+  /* Select the appropriate FLASH size for your device.        */
+  /* - STM32H750xB                          128K (only FLASH1) */
+  /* - STM32H750xB                            1M (512K + 512K) */
+  /* - STM32H743xI/753xI                      2M (  1M +   1M) */
+  FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
+  FLASH2  : ORIGIN = 0x08100000, LENGTH = 1M
+
+  /* Data TCM  */
+  /* - Two contiguous 64KB RAMs.                                     */
+  /* - Used for interrupt handlers, stacks and general RAM.          */
+  /* - Zero wait-states.                                             */
+  /* - The DTCM is taken as the origin of the base ram. (See below.) */
+  /*   This is also where the interrupt table and such will live,    */
+  /*   which is required for deterministic performance.              */
+  /* Need a region called RAM */
+  /* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
+  RAM : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* Instruction TCM */
+  /* - Used for latency-critical interrupt handlers etc. */
+  /* - Zero wait-states.                                 */
+  ITCM    : ORIGIN = 0x00000000, LENGTH = 64K
+
+  /* AXI SRAM */
+  /* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
+  /* - Suitable for application data not stored in DTCM.                  */
+  /* - Zero wait-states.                                                  */
+  AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
+
+  /* AHB SRAM */
+  /* - SRAM1-3 are in D2 and accessible by all system masters except BDMA.   */
+  /*   Suitable for use as DMA buffers.                                      */
+  /* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
+  /*   buffers, for storing application data in lower-power modes.           */
+  /* - Zero wait-states.                                                     */
+  SRAM1   : ORIGIN = 0x30000000, LENGTH = 128K
+  SRAM2   : ORIGIN = 0x30020000, LENGTH = 128K
+  SRAM3   : ORIGIN = 0x30040000, LENGTH = 32K
+  SRAM4   : ORIGIN = 0x38000000, LENGTH = 64K
+
+  /* Backup SRAM */
+  BSRAM   : ORIGIN = 0x38800000, LENGTH = 4K
+}
+
+/*
+/* Assign the memory regions defined above for use. */
+/*
+
+/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
+/* These do not work with flip-link */
+REGION_ALIAS(FLASH, FLASH1);
+/* REGION_ALIAS(RAM,   DTCM); */
+
+/* The location of the stack can be overridden using the `_stack_start` symbol. */
+/* - Set the stack location at the end of RAM, using all remaining space.       */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);
+
+/* The location of the .text section can be overridden using the  */
+/* `_stext` symbol. By default it will place after .vector_table. */
+/* _stext = ORIGIN(FLASH) + 0x40c; */
+
+/* Define sections for placing symbols into the extra memory regions above.   */
+/* This makes them accessible from code.                                      */
+/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
+/* - All other memories     connect to a 32-bit wide bus -> align to 4 bytes. */
+SECTIONS {
+  .flash2 (NOLOAD) : ALIGN(4) {
+    *(.flash2 .flash2.*);
+    . = ALIGN(4);
+    } > FLASH2
+
+  .itcm (NOLOAD) : ALIGN(8) {
+    *(.itcm .itcm.*);
+    . = ALIGN(8);
+    } > ITCM
+
+  .axisram (NOLOAD) : ALIGN(8) {
+    *(.axisram .axisram.*);
+    . = ALIGN(8);
+    } > AXISRAM
+
+  .sram1 (NOLOAD) : ALIGN(8) {
+    *(.sram1 .sram1.*);
+    . = ALIGN(4);
+    } > SRAM1
+
+  .sram2 (NOLOAD) : ALIGN(8) {
+    *(.sram2 .sram2.*);
+    . = ALIGN(4);
+    } > SRAM2
+
+  .sram3 (NOLOAD) : ALIGN(4) {
+    *(.sram3 .sram3.*);
+    . = ALIGN(4);
+    } > SRAM3
+
+  .sram4 (NOLOAD) : ALIGN(4) {
+    *(.sram4 .sram4.*);
+    . = ALIGN(4);
+    } > SRAM4
+
+  .bsram (NOLOAD) : ALIGN(4) {
+    *(.bsram .bsram.*);
+    . = ALIGN(4);
+    } > BSRAM
+
+};
--- a/embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore
+++ b/embedded-examples/stm32h7-nucleo-rtic/pyclient/.gitignore
@ -1,9 +1,8 @@
-__pycache__
-
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations

 /seqcnt.txt
-/.tmtc-history.txt
+/tmtc_conf.json
--- a/embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json
+++ b/embedded-examples/stm32h7-nucleo-rtic/pyclient/def_tmtc_conf.json
@ -0,0 +1,4 @@
+{
+    "com_if": "udp",
+    "tcpip_udp_port": 7301
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py
+++ b/embedded-examples/stm32h7-nucleo-rtic/pyclient/main.py
@ -1,23 +1,24 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
+import struct
 import logging
 import sys
 import time
-from typing import Any, Optional
-from prompt_toolkit.history import History
-from prompt_toolkit.history import FileHistory
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp

-from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusVerificator
+from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-from spacepackets.ccsds.time import CdsShortTimestamp

 from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
    CmdTreeNode,
@ -26,8 +27,8 @@ from tmtccmd.config import (
    HookBase,
    params_to_procedure_conversion,
 )
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.logging.pus import (
    RegularTmtcLogWrapper,
    RawTmtcTimedLogWrapper,
@ -40,21 +41,19 @@ from tmtccmd.tmtc import (
    FeedWrapper,
    SendCbParams,
    DefaultPusQueueHelper,
-    QueueWrapper,
 )
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT

-
-import pus_tc
-from common import Apid, EventU32
-
 _LOGGER = logging.getLogger()

+EXAMPLE_PUS_APID = 0x02
+

 class SatRsConfigHook(HookBase):
    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path=json_cfg_path)
+        super().__init__(json_cfg_path)

    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
        from tmtccmd.config.com import (
@ -63,20 +62,23 @@ class SatRsConfigHook(HookBase):
        )

        assert self.cfg_path is not None
-        packet_id_list = []
-        for apid in Apid:
-            packet_id_list.append(PacketId(PacketType.TM, True, apid))
        cfg = create_com_interface_cfg_default(
            com_if_key=com_if_key,
            json_cfg_path=self.cfg_path,
-            space_packet_ids=packet_id_list,
+            space_packet_ids=None,
        )
-        assert cfg is not None
+        if cfg is None:
+            raise ValueError(
+                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
+            )
+        if cfg.com_if_key == "serial_cobs":
+            cfg = cast(SerialCfgWrapper, cfg)
+            cfg.serial_cfg.serial_timeout = 0.5
        return create_com_interface_default(cfg)

    def get_command_definitions(self) -> CmdTreeNode:
        """This function should return the root node of the command definition tree."""
-        return pus_tc.create_cmd_definition_tree()
+        return create_cmd_definition_tree()

    def get_cmd_history(self) -> Optional[History]:
        """Optionlly return a history class for the past command paths which will be used
@ -89,29 +91,39 @@ class SatRsConfigHook(HookBase):
        return get_core_object_ids()


-class PusHandler(GenericApidHandlerBase):
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
+class PusHandler(SpecificApidHandlerBase):
    def __init__(
        self,
        file_logger: logging.Logger,
        verif_wrapper: VerificationWrapper,
        raw_logger: RawTmtcTimedLogWrapper,
    ):
-        super().__init__(None)
+        super().__init__(EXAMPLE_PUS_APID, None)
        self.file_logger = file_logger
        self.raw_logger = raw_logger
        self.verif_wrapper = verif_wrapper

-    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
        try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
        except ValueError as e:
            _LOGGER.warning("Could not generate PUS TM object from raw data")
            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
            raise e
        service = pus_tm.service
+        tm_packet = None
        if service == 1:
            tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
            )
            res = self.verif_wrapper.add_tm(tm_packet)
            if res is None:
@ -125,48 +137,39 @@ class PusHandler(GenericApidHandlerBase):
            else:
                self.verif_wrapper.log_to_console(tm_packet, res)
                self.verif_wrapper.log_to_file(tm_packet, res)
-        elif service == 3:
+        if service == 3:
            _LOGGER.info("No handling for HK packets implemented")
            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
            if pus_tm.subservice == 25:
                if len(pus_tm.source_data) < 8:
                    raise ValueError("No addressable ID in HK packet")
                json_str = pus_tm.source_data[8:]
-                _LOGGER.info(json_str)
-        elif service == 5:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
-            src_data = tm_packet.source_data
-            event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
-            if event_u32.group_id == 0 and event_u32.unique_id == 0:
-                _LOGGER.info("Received test event")
-        elif service == 17:
-            tm_packet = Service17Tm.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
+        if service == 5:
+            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
+        if service == 17:
+            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
            if tm_packet.subservice == 2:
-                self.file_logger.info("Received Ping Reply TM[17,2]")
                _LOGGER.info("Received Ping Reply TM[17,2]")
            else:
-                self.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
                _LOGGER.info(
                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                )
-        else:
+        if tm_packet is None:
            _LOGGER.info(
                f"The service {service} is not implemented in Telemetry Factory"
            )
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
        self.raw_logger.log_tm(pus_tm)


+def make_addressable_id(target_id: int, unique_id: int) -> bytes:
+    byte_string = bytearray(struct.pack("!I", target_id))
+    byte_string.extend(struct.pack("!I", unique_id))
+    return byte_string
+
+
 class TcHandler(TcHandlerBase):
    def __init__(
        self,
@ -178,10 +181,10 @@ class TcHandler(TcHandlerBase):
        self.verif_wrapper = verif_wrapper
        self.queue_helper = DefaultPusQueueHelper(
            queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            tc_sched_timestamp_len=7,
            seq_cnt_provider=seq_count_provider,
-            pus_verificator=self.verif_wrapper.pus_verificator,
-            default_pus_apid=None,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
        )

    def send_cb(self, send_params: SendCbParams):
@ -189,6 +192,10 @@ class TcHandler(TcHandlerBase):
        if entry_helper.is_tc:
            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                pus_tc_wrapper.pus_tc.seq_count = (
+                    self.seq_count_provider.get_and_increment()
+                )
+                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                raw_tc = pus_tc_wrapper.pus_tc.pack()
                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                send_params.com_if.send(raw_tc)
@ -197,17 +204,38 @@ class TcHandler(TcHandlerBase):
            _LOGGER.info(log_entry.log_str)

    def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")

    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
        q = self.queue_helper
        q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
-            assert def_proc.cmd_path is not None
-            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
+                q.add_log_cmd("Sending PUS ping telecommand")
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))


 def main():
@ -225,6 +253,7 @@ def main():
        post_args_wrapper.set_params_without_prompts(proc_wrapper)
    else:
        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    params.apid = EXAMPLE_PUS_APID
    setup_args = SetupWrapper(
        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
    )
@ -236,9 +265,8 @@ def main():
    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
    # Create primary TM handler and add it to the CCSDS Packet Handler
    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
-    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
-    # ccsds_handler.add_apid_handler(tm_handler)
+    ccsds_handler = CcsdsTmHandler(generic_handler=None)
+    ccsds_handler.add_apid_handler(tm_handler)

    # Create TC handler
    seq_count_provider = PusFileSeqCountProvider()
--- a/embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt
+++ b/embedded-examples/stm32h7-nucleo-rtic/pyclient/requirements.txt
@ -0,0 +1,2 @@
+tmtccmd == 8.0.1
+# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
--- a/embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/bin/blinky.rs
@ -0,0 +1,55 @@
+//! Blinks an LED
+//!
+//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
+//! to pb14. This assumption is true for the nucleo-h743zi board.
+
+#![no_std]
+#![no_main]
+use satrs_stm32h7_nucleo_rtic as _;
+
+use stm32h7xx_hal::{block, prelude::*, timer::Timer};
+
+use cortex_m_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    defmt::println!("starting stm32h7 blinky example");
+
+    // Get access to the device specific peripherals from the peripheral access crate
+    let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
+
+    // Take ownership over the RCC devices and convert them into the corresponding HAL structs
+    let rcc = dp.RCC.constrain();
+
+    let pwr = dp.PWR.constrain();
+    let pwrcfg = pwr.freeze();
+
+    // Freeze the configuration of all the clocks in the system and
+    // retrieve the Core Clock Distribution and Reset (CCDR) object
+    let rcc = rcc.use_hse(8.MHz()).bypass_hse();
+    let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
+
+    // Acquire the GPIOB peripheral
+    let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
+
+    // Configure gpio B pin 0 as a push-pull output.
+    let mut ld1 = gpiob.pb0.into_push_pull_output();
+
+    // Configure gpio B pin 7 as a push-pull output.
+    let mut ld2 = gpiob.pb7.into_push_pull_output();
+
+    // Configure gpio B pin 14 as a push-pull output.
+    let mut ld3 = gpiob.pb14.into_push_pull_output();
+
+    // Configure the timer to trigger an update every second
+    let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
+    timer.start(1.Hz());
+
+    // Wait for the timer to trigger an update and change the state of the LED
+    loop {
+        ld1.toggle();
+        ld2.toggle();
+        ld3.toggle();
+        block!(timer.wait()).unwrap();
+    }
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/bin/hello.rs
@ -0,0 +1,11 @@
+#![no_main]
+#![no_std]
+
+use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("Hello, world!");
+
+    satrs_stm32h7_nucleo_rtic::exit()
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/src/lib.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/lib.rs
@ -0,0 +1,52 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::debug;
+
+use defmt_brtt as _; // global logger
+
+// TODO(5) adjust HAL import
+use stm32h7xx_hal as _; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/src/main.rs
@ -0,0 +1,528 @@
+#![no_main]
+#![no_std]
+extern crate alloc;
+
+use rtic::app;
+use rtic_monotonics::systick::Systick;
+use rtic_monotonics::Monotonic;
+use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
+use satrs::static_subpool;
+// global logger + panicking-behavior + memory layout
+use satrs_stm32h7_nucleo_rtic as _;
+use smoltcp::socket::udp::UdpMetadata;
+use smoltcp::socket::{dhcpv4, udp};
+
+use core::mem::MaybeUninit;
+use embedded_alloc::Heap;
+use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
+use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
+use stm32h7xx_hal::ethernet;
+
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const PORT: u16 = 7301;
+
+const HEAP_SIZE: usize = 131_072;
+
+const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
+pub type SharedPool = StaticHeaplessMemoryPool<3>;
+pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
+
+#[global_allocator]
+static HEAP: Heap = Heap::empty();
+
+// We place the memory pool buffers inside the larger AXISRAM.
+pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
+pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
+pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
+pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
+pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
+pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
+
+// This data will be held by Net through a mutable reference
+pub struct NetStorageStatic<'a> {
+    socket_storage: [SocketStorage<'a>; 8],
+}
+// MaybeUninit allows us write code that is correct even if STORE is not
+// initialised by the runtime
+static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
+
+static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_RX: [u8; 2048] = [0; 2048];
+static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
+static mut UDP_TX: [u8; 2048] = [0; 2048];
+
+/// Locally administered MAC address
+const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
+
+pub struct Net {
+    iface: Interface,
+    ethdev: ethernet::EthernetDMA<4, 4>,
+    dhcp_handle: SocketHandle,
+}
+
+impl Net {
+    pub fn new(
+        sockets: &mut SocketSet<'static>,
+        mut ethdev: ethernet::EthernetDMA<4, 4>,
+        ethernet_addr: HardwareAddress,
+    ) -> Self {
+        let config = Config::new(ethernet_addr);
+        let mut iface = Interface::new(
+            config,
+            &mut ethdev,
+            smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
+        );
+        // Create sockets
+        let dhcp_socket = dhcpv4::Socket::new();
+        iface.update_ip_addrs(|addrs| {
+            let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
+        });
+
+        let dhcp_handle = sockets.add(dhcp_socket);
+        Net {
+            iface,
+            ethdev,
+            dhcp_handle,
+        }
+    }
+
+    /// Polls on the ethernet interface. You should refer to the smoltcp
+    /// documentation for poll() to understand how to call poll efficiently
+    pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
+        let uptime = Systick::now() - Systick::ZERO;
+        let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
+
+        self.iface.poll(timestamp, &mut self.ethdev, sockets)
+    }
+
+    pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
+        let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
+        if let Some(event) = &opt_event {
+            match event {
+                dhcpv4::Event::Deconfigured => {
+                    defmt::info!("DHCP lost configuration");
+                    self.iface.update_ip_addrs(|addrs| addrs.clear());
+                    self.iface.routes_mut().remove_default_ipv4_route();
+                }
+                dhcpv4::Event::Configured(config) => {
+                    defmt::info!("DHCP configuration acquired");
+                    defmt::info!("IP address: {}", config.address);
+                    self.iface.update_ip_addrs(|addrs| {
+                        addrs.clear();
+                        addrs.push(IpCidr::Ipv4(config.address)).unwrap();
+                    });
+
+                    if let Some(router) = config.router {
+                        defmt::debug!("Default gateway: {}", router);
+                        self.iface
+                            .routes_mut()
+                            .add_default_ipv4_route(router)
+                            .unwrap();
+                    } else {
+                        defmt::debug!("Default gateway: None");
+                        self.iface.routes_mut().remove_default_ipv4_route();
+                    }
+                }
+            }
+        }
+        opt_event
+    }
+}
+
+pub struct UdpNet {
+    udp_handle: SocketHandle,
+    last_client: Option<UdpMetadata>,
+    tc_source_tx: TcSourceTx,
+}
+
+impl UdpNet {
+    pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
+        // SAFETY: The RX and TX buffers are passed here and not used anywhere else.
+        let udp_rx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
+                &mut UDP_RX[..]
+            });
+        let udp_tx_buffer =
+            smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
+                &mut UDP_TX[..]
+            });
+        let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
+
+        let udp_handle = sockets.add(udp_socket);
+        Self {
+            udp_handle,
+            last_client: None,
+            tc_source_tx,
+        }
+    }
+
+    pub fn poll<'sockets>(
+        &mut self,
+        sockets: &'sockets mut SocketSet,
+        shared_pool: &mut SharedPool,
+    ) {
+        let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
+        if !socket.is_open() {
+            if let Err(e) = socket.bind(PORT) {
+                defmt::warn!("binding UDP socket failed: {}", e);
+            }
+        }
+        loop {
+            match socket.recv() {
+                Ok((data, client)) => {
+                    match shared_pool.add(data) {
+                        Ok(store_addr) => {
+                            if let Err(e) = self.tc_source_tx.try_send(store_addr) {
+                                defmt::warn!("TC source channel is full: {}", e);
+                            }
+                        }
+                        Err(e) => {
+                            defmt::warn!("could not add UDP packet to shared pool: {}", e);
+                        }
+                    }
+                    self.last_client = Some(client);
+                    // TODO: Implement packet wiretapping.
+                }
+                Err(e) => match e {
+                    udp::RecvError::Exhausted => {
+                        break;
+                    }
+                    udp::RecvError::Truncated => {
+                        defmt::warn!("UDP packet was truncacted");
+                    }
+                },
+            };
+        }
+    }
+}
+
+#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
+mod app {
+    use core::ptr::addr_of_mut;
+
+    use super::*;
+    use rtic_monotonics::systick::fugit::MillisDurationU32;
+    use rtic_monotonics::systick::Systick;
+    use satrs::spacepackets::ecss::tc::PusTcReader;
+    use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
+    use stm32h7xx_hal::gpio::{Output, Pin};
+    use stm32h7xx_hal::prelude::*;
+    use stm32h7xx_hal::stm32::Interrupt;
+
+    struct BlinkyLeds {
+        led1: Pin<'B', 7, Output>,
+        led2: Pin<'B', 14, Output>,
+    }
+
+    #[local]
+    struct Local {
+        leds: BlinkyLeds,
+        link_led: Pin<'B', 0, Output>,
+        net: Net,
+        udp: UdpNet,
+        tc_source_rx: TcSourceRx,
+        phy: ethernet::phy::LAN8742A<EthernetMAC>,
+    }
+
+    #[shared]
+    struct Shared {
+        blink_freq: MillisDurationU32,
+        eth_link_up: bool,
+        sockets: SocketSet<'static>,
+        shared_pool: SharedPool,
+    }
+
+    #[init]
+    fn init(mut cx: init::Context) -> (Shared, Local) {
+        defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
+
+        let pwr = cx.device.PWR.constrain();
+        let pwrcfg = pwr.freeze();
+
+        let rcc = cx.device.RCC.constrain();
+        // Try to keep the clock configuration similar to one used in STM examples:
+        // https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
+        let ccdr = rcc
+            .sys_ck(400.MHz())
+            .hclk(200.MHz())
+            .use_hse(8.MHz())
+            .bypass_hse()
+            .pclk1(100.MHz())
+            .pclk2(100.MHz())
+            .pclk3(100.MHz())
+            .pclk4(100.MHz())
+            .freeze(pwrcfg, &cx.device.SYSCFG);
+
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(
+            cx.core.SYST,
+            ccdr.clocks.sys_ck().to_Hz(),
+            systick_mono_token,
+        );
+
+        // Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
+        // good for.
+        cx.core.SCB.enable_icache();
+        cx.core.DWT.enable_cycle_counter();
+
+        let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
+        let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
+        let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
+        let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
+
+        let link_led = gpiob.pb0.into_push_pull_output();
+        let mut led1 = gpiob.pb7.into_push_pull_output();
+        let mut led2 = gpiob.pb14.into_push_pull_output();
+
+        // Criss-cross pattern looks cooler.
+        led1.set_high();
+        led2.set_low();
+        let leds = BlinkyLeds { led1, led2 };
+
+        let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
+        let rmii_mdio = gpioa.pa2.into_alternate::<11>();
+        let rmii_mdc = gpioc.pc1.into_alternate::<11>();
+        let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
+        let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
+        let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
+        let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
+        let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
+        let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
+
+        let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
+
+        /// Ethernet descriptor rings are a global singleton
+        #[link_section = ".sram3.eth"]
+        static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
+
+        let (eth_dma, eth_mac) = ethernet::new(
+            cx.device.ETHERNET_MAC,
+            cx.device.ETHERNET_MTL,
+            cx.device.ETHERNET_DMA,
+            (
+                rmii_ref_clk,
+                rmii_mdio,
+                rmii_mdc,
+                rmii_crs_dv,
+                rmii_rxd0,
+                rmii_rxd1,
+                rmii_tx_en,
+                rmii_txd0,
+                rmii_txd1,
+            ),
+            // SAFETY: We do not move the returned DMA struct across thread boundaries, so this
+            // should be safe according to the docs.
+            unsafe { DES_RING.assume_init_mut() },
+            mac_addr,
+            ccdr.peripheral.ETH1MAC,
+            &ccdr.clocks,
+        );
+        // Initialise ethernet PHY...
+        let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
+        lan8742a.phy_reset();
+        lan8742a.phy_init();
+
+        unsafe {
+            ethernet::enable_interrupt();
+            cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
+            cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
+        }
+
+        // unsafe: mutable reference to static storage, we only do this once
+        let store = unsafe {
+            let store_ptr = STORE.as_mut_ptr();
+
+            // Initialise the socket_storage field. Using `write` instead of
+            // assignment via `=` to not call `drop` on the old, uninitialised
+            // value
+            addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
+
+            // Now that all fields are initialised we can safely use
+            // assume_init_mut to return a mutable reference to STORE
+            STORE.assume_init_mut()
+        };
+
+        let (tc_source_tx, tc_source_rx) =
+            rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
+
+        let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
+        let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
+        let udp = UdpNet::new(&mut sockets, tc_source_tx);
+
+        let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
+        static_subpool!(
+            SUBPOOL_SMALL,
+            SUBPOOL_SMALL_SIZES,
+            SUBPOOL_SMALL_NUM_BLOCKS as usize,
+            SUBPOOL_SMALL_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_MEDIUM,
+            SUBPOOL_MEDIUM_SIZES,
+            SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
+            SUBPOOL_MEDIUM_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+        static_subpool!(
+            SUBPOOL_LARGE,
+            SUBPOOL_LARGE_SIZES,
+            SUBPOOL_LARGE_NUM_BLOCKS as usize,
+            SUBPOOL_LARGE_BLOCK_SIZE,
+            link_section = ".axisram"
+        );
+
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_SMALL.assume_init_mut() },
+                unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
+                SUBPOOL_SMALL_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
+                unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
+                SUBPOOL_MEDIUM_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+        shared_pool
+            .grow(
+                unsafe { SUBPOOL_LARGE.assume_init_mut() },
+                unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
+                SUBPOOL_LARGE_NUM_BLOCKS,
+                true,
+            )
+            .expect("growing heapless memory pool failed");
+
+        // Set up global allocator. Use AXISRAM for the heap.
+        #[link_section = ".axisram"]
+        static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
+        unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
+
+        eth_link_check::spawn().expect("eth link check failed");
+        blinky::spawn().expect("spawning blink task failed");
+        udp_task::spawn().expect("spawning UDP task failed");
+        tc_source_task::spawn().expect("spawning TC source task failed");
+
+        (
+            Shared {
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                eth_link_up: false,
+                sockets,
+                shared_pool,
+            },
+            Local {
+                link_led,
+                leds,
+                net,
+                udp,
+                tc_source_rx,
+                phy: lan8742a,
+            },
+        )
+    }
+
+    #[task(local = [leds], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
+        let leds = cx.local.leds;
+        loop {
+            leds.led1.toggle();
+            leds.led2.toggle();
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(current_blink_freq).await;
+        }
+    }
+
+    /// This task checks for the network link.
+    #[task(local=[link_led, phy], shared=[eth_link_up])]
+    async fn eth_link_check(mut cx: eth_link_check::Context) {
+        let phy = cx.local.phy;
+        let link_led = cx.local.link_led;
+        loop {
+            let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
+            if phy.poll_link() {
+                if !link_was_up {
+                    link_led.set_high();
+                    cx.shared.eth_link_up.lock(|link_up| *link_up = true);
+                    defmt::info!("Ethernet link up");
+                }
+            } else if link_was_up {
+                link_led.set_low();
+                cx.shared.eth_link_up.lock(|link_up| *link_up = false);
+                defmt::info!("Ethernet link down");
+            }
+            Systick::delay(100.millis()).await;
+        }
+    }
+
+    #[task(binds=ETH, local=[net], shared=[sockets])]
+    fn eth_isr(mut cx: eth_isr::Context) {
+        // SAFETY: We do not write the register mentioned inside the docs anywhere else.
+        unsafe {
+            ethernet::interrupt_handler();
+        }
+        // Check and process ETH frames and DHCP. UDP is checked in a different task.
+        cx.shared.sockets.lock(|sockets| {
+            cx.local.net.poll(sockets);
+            cx.local.net.poll_dhcp(sockets);
+        });
+    }
+
+    /// This task routes UDP packets.
+    #[task(local=[udp], shared=[sockets, shared_pool])]
+    async fn udp_task(mut cx: udp_task::Context) {
+        loop {
+            cx.shared.sockets.lock(|sockets| {
+                cx.shared.shared_pool.lock(|pool| {
+                    cx.local.udp.poll(sockets, pool);
+                })
+            });
+            Systick::delay(40.millis()).await;
+        }
+    }
+
+    /// This task handles all the incoming telecommands.
+    #[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
+    async fn tc_source_task(mut cx: tc_source_task::Context) {
+        loop {
+            let recv_result = cx.local.tc_source_rx.recv().await;
+            match recv_result {
+                Ok(pool_addr) => {
+                    cx.shared.shared_pool.lock(|pool| {
+                        match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
+                            Ok(packet_len) => {
+                                defmt::info!("received {} bytes in the TC source task", packet_len);
+                                match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
+                                    Ok((packet, _tc_len)) => {
+                                        // TODO: Handle packet here or dispatch to dedicated PUS
+                                        // handler? Dispatching could simplify some things and make
+                                        // the software more scalable..
+                                        defmt::info!("received PUS packet: {}", packet);
+                                    }
+                                    Err(e) => {
+                                        defmt::info!("invalid TC format, not a PUS packet: {}", e);
+                                    }
+                                }
+                                if let Err(e) = pool.delete(pool_addr) {
+                                    defmt::warn!("deleting TC data failed: {}", e);
+                                }
+                            }
+                            Err(e) => {
+                                defmt::warn!("TC packet read failed: {}", e);
+                            }
+                        }
+                    });
+                }
+                Err(e) => {
+                    defmt::warn!("TC source reception error: {}", e);
+                }
+            };
+        }
+    }
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs
+++ b/embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs
@ -0,0 +1,16 @@
+#![no_std]
+#![no_main]
+
+use stm32h7_testapp as _; // memory layout + panic handler
+
+// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
+// feature)
+#[defmt_test::tests]
+mod tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore
+++ b/embedded-examples/stm32h7-nucleo-rtic/vscode/.gitignore
@ -0,0 +1,2 @@
+/settings.json
+/.cortex-debug.*
--- a/embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json
+++ b/embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json
@ -0,0 +1,12 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"rust-lang.rust",
+		"probe-rs.probe-rs-debugger"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": []
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json
+++ b/embedded-examples/stm32h7-nucleo-rtic/vscode/launch.json
@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32H743ZITx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
+          "rttEnabled": true,
+          "svdFile": "STM32H743.svd"
+        }
+      ]
+    }
+  ]
+}
--- a/embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json
+++ b/embedded-examples/stm32h7-nucleo-rtic/vscode/tasks.json
@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558 
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "cargo build",
+            "type": "shell",
+            "command": "~/.cargo/bin/cargo", // note: full path to the cargo
+            "args": [
+                "build"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
+        },
+
+    ]
+}
--- a/images/minisim-arch/minisim-arch.graphml
+++ b/images/minisim-arch/minisim-arch.graphml
@ -0,0 +1,260 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
+  <!--Created by yEd 3.23.2-->
+  <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
+  <key for="port" id="d1" yfiles.type="portgraphics"/>
+  <key for="port" id="d2" yfiles.type="portgeometry"/>
+  <key for="port" id="d3" yfiles.type="portuserdata"/>
+  <key attr.name="url" attr.type="string" for="node" id="d4"/>
+  <key attr.name="description" attr.type="string" for="node" id="d5"/>
+  <key for="node" id="d6" yfiles.type="nodegraphics"/>
+  <key for="graphml" id="d7" yfiles.type="resources"/>
+  <key attr.name="url" attr.type="string" for="edge" id="d8"/>
+  <key attr.name="description" attr.type="string" for="edge" id="d9"/>
+  <key for="edge" id="d10" yfiles.type="edgegraphics"/>
+  <graph edgedefault="directed" id="G">
+    <data key="d0" xml:space="preserve"/>
+    <node id="n0">
+      <data key="d5"/>
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="360.0" width="479.0" x="771.3047672479152" y="458.0"/>
+          <y:Fill hasColor="false" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" hasText="false" height="4.0" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="4.0" x="237.5" y="178.0">
+            <y:LabelModel>
+              <y:SmartNodeLabelModel distance="4.0"/>
+            </y:LabelModel>
+            <y:ModelParameter>
+              <y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/>
+            </y:ModelParameter>
+          </y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n1">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="177.64799999999997" width="200.75199999999973" x="1037.5527672479152" y="470.15200000000027"/>
+          <y:Fill hasColor="false" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="67.919921875" x="13.264464667588754" xml:space="preserve" y="8.302185845943427">Simulation<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.433926114471642" nodeRatioY="-0.45326608886143704" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n2">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="84.39999999999986" x="1068.8351781652768" y="508.2800000000002"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="37.638671875" x="23.380664062499818" xml:space="preserve" y="8.015625">PCDU<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n3">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="550.4800000000001"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.453125" x="13.973437499999818" xml:space="preserve" y="8.015625">Magnetometer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n4">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="1068.8351781652768" y="594.9000000000001"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="88.83203125" x="15.783984374999818" xml:space="preserve" y="8.015625">Magnetorquer<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n5">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="783.4063563305535" y="545.2800000000002"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="85.931640625" x="17.234179687499932" xml:space="preserve" y="8.015625">SimController<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n6">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="840.5407126611072" y="677.8000000000002"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="105.05078125" x="7.674609374999932" xml:space="preserve" y="8.015625">UDP TC Receiver<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n7">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="1005.2814253222144" y="677.8000000000002"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.111328125" x="11.644335937499932" xml:space="preserve" y="8.015625">UDP TM Sender<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <node id="n8">
+      <data key="d6">
+        <y:ShapeNode>
+          <y:Geometry height="34.0" width="120.39999999999986" x="931.6174253222144" y="775.5920000000002"/>
+          <y:Fill color="#FFCC00" transparent="false"/>
+          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="38.740234375" x="40.82988281249993" xml:space="preserve" y="8.015625">Client<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:Shape type="rectangle"/>
+        </y:ShapeNode>
+      </data>
+    </node>
+    <edge id="e0" source="n5" target="n3">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="-5.199999999999932"/>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e1" source="n5" target="n2">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="60.19999999999993" sy="0.0" tx="0.0" ty="0.0">
+            <y:Point x="1023.8695890826383" y="562.2800000000002"/>
+            <y:Point x="1023.8695890826383" y="525.2800000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e2" source="n5" target="n4">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="48.72964366944643" sy="0.0" tx="0.0" ty="0.0">
+            <y:Point x="1023.8695890826383" y="562.2800000000002"/>
+            <y:Point x="1023.8695890826383" y="611.9000000000001"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="97.955078125" x="12.686124396959713" xml:space="preserve" y="-22.50440429687478">schedule_event<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="13.519999999999978" distanceToCenter="true" position="left" ratio="0.11621274698385183" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e3" source="n6" target="n5">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="0.0" sy="0.0" tx="-5.329643669446341" ty="0.0">
+            <y:Point x="900.7407126611072" y="628.5400000000002"/>
+            <y:Point x="838.2767126611071" y="628.5400000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="75.923828125" x="-87.89792405764274" xml:space="preserve" y="-40.606550292968564">SimRequest<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="49.935999999999936" distanceToCenter="true" position="left" ratio="0.5" segment="0"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e4" source="n4" target="n7">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="60.200000000000045" sy="0.0" tx="0.0" ty="0.0">
+            <y:Point x="1223.8814253222142" y="611.9000000000001"/>
+            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e5" source="n3" target="n7">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="0.0" sy="0.0" tx="0.0" ty="0.0">
+            <y:Point x="1223.8814253222142" y="567.4800000000001"/>
+            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e6" source="n2" target="n7">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="11.514125426161627" sy="-2.5781798912005343" tx="45.553752843062284" ty="0.0">
+            <y:Point x="1223.8814253222142" y="522.7018201087997"/>
+            <y:Point x="1223.8814253222142" y="694.8000000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="60.4140625" x="-2.4087265765670054" xml:space="preserve" y="145.1356018470808">SimReply<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="17.97817989120062" distanceToCenter="true" position="right" ratio="0.679561684469248" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e7" source="n8" target="n6">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="-25.212712661107275" sy="0.0" tx="-11.264000000000124" ty="0.0">
+            <y:Point x="966.6047126611071" y="731.8000000000002"/>
+            <y:Point x="889.4767126611071" y="731.8000000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="119.751953125" x="-132.27600022951788" xml:space="preserve" y="-32.03587548828091">SimRequest in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="20.73181250000017" distanceToCenter="true" position="left" ratio="0.9386993050513424" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e8" source="n7" target="n8">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="29.18399999999997" sy="0.0" tx="24.28800000000001" ty="0.0">
+            <y:Point x="1094.6654253222143" y="731.8000000000002"/>
+            <y:Point x="1016.1054253222144" y="731.8000000000002"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="104.2421875" x="-62.15307370122309" xml:space="preserve" y="34.80927001953137">SimReply in UDP<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="23.81218750000005" distanceToCenter="true" position="left" ratio="0.12769857433808468" segment="1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+    <edge id="e9" source="n5" target="n1">
+      <data key="d10">
+        <y:PolyLineEdge>
+          <y:Path sx="23.921741802203996" sy="-3.0501798912007416" tx="0.0" ty="-56.27417989120056">
+            <y:Point x="867.5280981327575" y="502.70182010879967"/>
+          </y:Path>
+          <y:LineStyle color="#000000" type="line" width="1.0"/>
+          <y:Arrows source="none" target="standard"/>
+          <y:EdgeLabel alignment="center" configuration="AutoFlippingLabel" distance="2.0" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.96875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" preferredPlacement="anywhere" ratio="0.5" textColor="#000000" verticalTextPosition="bottom" visible="true" width="29.95703125" x="73.38950633588263" xml:space="preserve" y="-62.699758016200235">step<y:LabelModel><y:SmartEdgeLabelModel autoRotationEnabled="false" defaultAngle="0.0" defaultDistance="10.0"/></y:LabelModel><y:ModelParameter><y:SmartEdgeLabelModelParameter angle="6.283185307179586" distance="11.126187499999986" distanceToCenter="true" position="left" ratio="0.5889387894625147" segment="-1"/></y:ModelParameter><y:PreferredPlacementDescriptor angle="0.0" angleOffsetOnRightSide="0" angleReference="absolute" angleRotationOnRightSide="co" distance="-1.0" frozen="true" placement="anywhere" side="anywhere" sideReference="relative_to_edge_flow"/></y:EdgeLabel>
+          <y:BendStyle smoothed="false"/>
+        </y:PolyLineEdge>
+      </data>
+    </edge>
+  </graph>
+  <data key="d7">
+    <y:Resources/>
+  </data>
+</graphml>
--- a/images/minisim-arch/minisim-arch.png
+++ b/images/minisim-arch/minisim-arch.png
--- a/images/satrs-example-goal/satrs-example-goal.graphml
+++ b/images/satrs-example-goal/satrs-example-goal.graphml
@ -166,7 +166,7 @@ Subsystem<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
                  <y:Geometry height="30.0" width="125.0" x="1151.9280499999995" y="281.84403125000006"/>
                  <y:Fill color="#CCFFFF" transparent="false"/>
                  <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="76.255859375" x="24.3720703125" xml:space="preserve" y="4.8515625">TM Funnel<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+                  <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="14" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="20.296875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="58.837890625" x="33.0810546875" xml:space="preserve" y="4.8515625">TM Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
                  <y:Shape type="rectangle"/>
                </y:ShapeNode>
              </data>
@ -260,7 +260,7 @@ Mode Tree<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
          <y:Geometry height="57.265600000000006" width="631.1152" x="810.8847999999999" y="411.39428125"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-satellite
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="261.8125" x="166.89412267941418" xml:space="preserve" y="3.144146301369915">satrs-minisim
 Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
@ -272,7 +272,7 @@ Simulator based on asynchronix<y:LabelModel><y:SmartNodeLabelModel distance="4.0
          <y:Geometry height="50.0" width="631.1152000000002" x="810.8847999999998" y="476.2958625000002"/>
          <y:Fill hasColor="false" transparent="false"/>
          <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">satrs-tmtc
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="41.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="374.8359375" x="110.3824039294143" xml:space="preserve" y="0.12842465753431043">pytmtc
 Command-line interface based TMTC handling<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="-0.028136269449041573" nodeRatioY="-0.08493150684931505" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
          <y:Shape type="rectangle"/>
        </y:ShapeNode>
--- a/images/satrs-example-goal/satrs-example-goal.pdf
+++ b/images/satrs-example-goal/satrs-example-goal.pdf
--- a/satrs-book/src/events.md
+++ b/satrs-book/src/events.md
@ -1,16 +1,24 @@
 # Events

-Events can be an extremely important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Events are an important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. 
+
+One common use case for events on remote systems is to offer a light-weight publish-subscribe
+mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
+(TM) or can trigger a system response. They can also be tied to
 Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.

-Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
-also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
-for events might look like, but does not specify how other software components might react
-to those events. There is the PUS Service 19, which might be used for that purpose, but the
-event components recommended by this framework do not really need this service.
+The PUS Service 5 standardizes how the ground interface for events might look like, but does not
+specify how other software components might react to those events. There is the PUS Service 19,
+which might be used for that purpose, but the event components recommended by this framework do not
+rely on the present of this service.

 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:

 ![Event flow](images/events/event_man_arch.png)
+
+For the concrete implementation of your own event management and/or event routing system, you
+can have a look at the event management documentation inside the
+[API documentation](https://docs.rs/satrs/latest/satrs/event_man/index.html) where you can also
+find references to all examples.
--- a/satrs-book/src/introduction.md
+++ b/satrs-book/src/introduction.md
@ -5,10 +5,8 @@ This book is the primary information resource for the [sat-rs library](https://e
 in addition to the regular API documentation. It contains the following resources:

 1. Architecture informations and consideration which would exceeds the scope of the regular API.
-2. General information on how to build On-Board Software and how `sat-rs` can help to fulfill
+2. General information on how to build on-board Software and how `sat-rs` can help to fulfill
   the unique requirements of writing software for remote systems.
-2. A Getting-Started workshop where a small On-Board Software is built from scratch using
-   sat-rs components.

 # Introduction

@ -31,4 +29,21 @@ and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-
 The [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 provides various practical usage examples of the `sat-rs` framework. If you are more interested in
 the practical application of `sat-rs` inside an application, it is recommended to have a look at
-the example application.
+the example application. The [`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+applicatin complements the example application and can be used to simulate some physical devices
+for the `satrs-example` device handlers.
+
+# Flight Heritage
+
+There is an active and continuous effort to get early flight heritage for the sat-rs library.
+Currently this library has the following flight heritage:
+
+- Submission as an [OPS-SAT experiment](https://www.esa.int/Enabling_Support/Operations/OPS-SAT)
+  which has also
+  [flown on the satellite](https://blogs.esa.int/rocketscience/2024/05/21/ops-sat-reentry-tomorrow-final-experiments-continue/).
+  The application is strongly based on the sat-rs example application. You can find the repository
+  of the experiment [here](https://egit.irs.uni-stuttgart.de/rust/ops-sat-rs).
+- Development and use of a sat-rs-based [demonstration on-board software](https://egit.irs.uni-stuttgart.de/rust/eurosim-obsw)
+  alongside a Flight System Simulator in the context of a
+  [Bachelors Thesis](https://www.researchgate.net/publication/380785984_Design_and_Development_of_a_Hardware-in-the-Loop_EuroSim_Demonstrator)
+  at [Airbus Netherlands](https://www.airbusdefenceandspacenetherlands.nl/).
--- a/satrs-example/CHANGELOG.md
+++ b/satrs-example/CHANGELOG.md
@ -7,3 +7,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]
+
+# [v0.1.1] 2024-02-21
+
+satrs v0.2.0-rc.0
+satrs-mib v0.1.1
+
+# [v0.1.0] 2024-02-13
+
+satrs v0.1.1
+satrs-mib v0.1.0
--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@ -8,18 +8,18 @@ homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"

 [dependencies]
-fern = "0.6"
+fern = "0.7"
 chrono = "0.4"
 log = "0.4"
 crossbeam-channel = "0.5"
-delegate = "0.10"
-zerocopy = "0.6"
+delegate = "0.13"
+zerocopy = "0.8"
 csv = "1"
 num_enum = "0.7"
-thiserror = "1"
+thiserror = "2"
 lazy_static = "1"
 strum = { version = "0.26", features = ["derive"] }
-derive-new = "0.5"
+derive-new = "0.7"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

@ -27,6 +27,9 @@ serde_json = "1"
 path = "../satrs"
 features = ["test_util"]

+[dependencies.satrs-minisim]
+path = "../satrs-minisim"
+
 [dependencies.satrs-mib]
 version = "0.1.1"
 path = "../satrs-mib"
--- a/satrs-example/README.md
+++ b/satrs-example/README.md
@ -48,16 +48,17 @@ It is recommended to use a virtual environment to do this. To set up one in the
 you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
 After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
 on how to activate the environment and then use the following command to install the required
-dependency:
+dependency interactively:

 ```sh
-pip install -r requirements.txt
+pip install -e .
 ```

 Alternatively, if you would like to use the GUI functionality provided by `tmtccmd`, you can also
 install it manually with

 ```sh
+pip install -e .
 pip install tmtccmd[gui]
 ```

@ -72,3 +73,22 @@ the `simpleclient`:
 ```

 You can also simply call the script without any arguments to view the command tree.
+
+## Adding the mini simulator application
+
+This example application features a few device handlers. The
+[`satrs-minisim`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-minisim)
+can be used to simulate the physical devices managed by these device handlers.
+
+The example application will attempt communication with the mini simulator on UDP port 7303.
+If this works, the device handlers will use communication interfaces dedicated to the communication
+with the mini simulator. Otherwise, they will be replaced by dummy interfaces which either
+return constant values or behave like ideal devices.
+
+In summary, you can use the following command command to run the mini-simulator first:
+
+```sh
+cargo run -p satrs-minisim
+```
+
+and then start the example using `cargo run -p satrs-example`.
--- a/satrs-example/pytmtc/.gitignore
+++ b/satrs-example/pytmtc/.gitignore
@ -0,0 +1,143 @@
+/tmtc_conf.json
+__pycache__
+
+/venv
+/log
+/.idea/*
+!/.idea/runConfigurations
+
+/seqcnt.txt
+/.tmtc-history.txt
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# PyCharm
+.idea
--- a/satrs-example/pytmtc/main.py
+++ b/satrs-example/pytmtc/main.py
@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+"""Example client for the sat-rs example application"""
+import logging
+import sys
+import time
+
+import tmtccmd
+from spacepackets.ecss import PusVerificator
+
+from tmtccmd import ProcedureParamsWrapper
+from tmtccmd.core.base import BackendRequest
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import CcsdsTmHandler
+from tmtccmd.config import (
+    default_json_path,
+    SetupParams,
+    params_to_procedure_conversion,
+)
+from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
+from tmtccmd.logging import add_colorlog_console_logger
+from tmtccmd.logging.pus import (
+    RegularTmtcLogWrapper,
+    RawTmtcTimedLogWrapper,
+    TimedLogWhen,
+)
+from spacepackets.seqcount import PusFileSeqCountProvider
+
+
+from pytmtc.config import SatrsConfigHook
+from pytmtc.pus_tc import TcHandler
+from pytmtc.pus_tm import PusHandler
+
+_LOGGER = logging.getLogger()
+
+
+def main():
+    add_colorlog_console_logger(_LOGGER)
+    tmtccmd.init_printout(False)
+    hook_obj = SatrsConfigHook(json_cfg_path=default_json_path())
+    parser_wrapper = PreArgsParsingWrapper()
+    parser_wrapper.create_default_parent_parser()
+    parser_wrapper.create_default_parser()
+    parser_wrapper.add_def_proc_args()
+    params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
+    proc_wrapper = ProcedureParamsWrapper()
+    if post_args_wrapper.use_gui:
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
+    else:
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
+    setup_args = SetupWrapper(
+        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
+    )
+    # Create console logger helper and file loggers
+    tmtc_logger = RegularTmtcLogWrapper()
+    file_logger = tmtc_logger.logger
+    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
+    verificator = PusVerificator()
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
+    # Create primary TM handler and add it to the CCSDS Packet Handler
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
+    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
+    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # ccsds_handler.add_apid_handler(tm_handler)
+
+    # Create TC handler
+    seq_count_provider = PusFileSeqCountProvider()
+    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
+    tmtccmd.setup(setup_args=setup_args)
+    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
+    tmtc_backend = tmtccmd.create_default_tmtc_backend(
+        setup_wrapper=setup_args,
+        tm_handler=ccsds_handler,
+        tc_handler=tc_handler,
+        init_procedure=init_proc,
+    )
+    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
+    try:
+        while True:
+            state = tmtc_backend.periodic_op(None)
+            if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
+                sys.exit(0)
+            elif state.request == BackendRequest.DELAY_IDLE:
+                _LOGGER.info("TMTC Client in IDLE mode")
+                time.sleep(3.0)
+            elif state.request == BackendRequest.DELAY_LISTENER:
+                time.sleep(0.8)
+            elif state.request == BackendRequest.DELAY_CUSTOM:
+                if state.next_delay.total_seconds() <= 0.4:
+                    time.sleep(state.next_delay.total_seconds())
+                else:
+                    time.sleep(0.4)
+            elif state.request == BackendRequest.CALL_NEXT:
+                pass
+    except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
+        sys.exit(0)
+
+
+if __name__ == "__main__":
+    main()
--- a/satrs-example/pytmtc/pyproject.toml
+++ b/satrs-example/pytmtc/pyproject.toml
@ -0,0 +1,27 @@
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "pytmtc"
+description = "Python TMTC client for OPS-SAT"
+readme = "README.md"
+version = "0.1.0"
+requires-python = ">=3.8"
+authors = [
+  {name = "Robin Mueller", email = "robin.mueller.m@gmail.com"},
+]
+dependencies = [
+    "tmtccmd~=8.0",
+    "pydantic~=2.7"
+]
+
+[tool.setuptools.packages]
+find = {}
+
+[tool.ruff]
+extend-exclude = ["archive"]
+[tool.ruff.lint]
+ignore = ["E501"]
+[tool.ruff.lint.extend-per-file-ignores]
+"__init__.py" = ["F401"]
--- a/satrs-example/pytmtc/pytmtc/init.py
+++ b/satrs-example/pytmtc/pytmtc/init.py
--- a/satrs-example/pytmtc/pytmtc/common.py
+++ b/satrs-example/pytmtc/pytmtc/common.py
@ -10,6 +10,7 @@ class Apid(enum.IntEnum):
    GENERIC_PUS = 2
    ACS = 3
    CFDP = 4
+    TMTC = 5


 class EventSeverity(enum.IntEnum):
--- a/satrs-example/pytmtc/pytmtc/config.py
+++ b/satrs-example/pytmtc/pytmtc/config.py
@ -0,0 +1,47 @@
+from typing import Optional
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ccsds import PacketId, PacketType
+from tmtccmd import HookBase
+from tmtccmd.com import ComInterface
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.util.obj_id import ObjectIdDictT
+
+from pytmtc.common import Apid
+from pytmtc.pus_tc import create_cmd_definition_tree
+
+
+class SatrsConfigHook(HookBase):
+    def __init__(self, json_cfg_path: str):
+        super().__init__(json_cfg_path=json_cfg_path)
+
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
+            create_com_interface_default,
+            create_com_interface_cfg_default,
+        )
+
+        assert self.cfg_path is not None
+        packet_id_list = []
+        for apid in Apid:
+            packet_id_list.append(PacketId(PacketType.TM, True, apid))
+        cfg = create_com_interface_cfg_default(
+            com_if_key=com_if_key,
+            json_cfg_path=self.cfg_path,
+            space_packet_ids=packet_id_list,
+        )
+        assert cfg is not None
+        return create_com_interface_default(cfg)
+
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
+
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
+
+    def get_object_ids(self) -> ObjectIdDictT:
+        from tmtccmd.config.objects import get_core_object_ids
+
+        return get_core_object_ids()
--- a/satrs-example/pytmtc/pytmtc/hk.py
+++ b/satrs-example/pytmtc/pytmtc/hk.py
@ -0,0 +1,42 @@
+import logging
+import struct
+from spacepackets.ecss.pus_3_hk import Subservice
+from spacepackets.ecss import PusTm
+
+from pytmtc.common import AcsId, Apid
+from pytmtc.mgms import handle_mgm_hk_report
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+def handle_hk_packet(pus_tm: PusTm):
+    if len(pus_tm.source_data) < 4:
+        raise ValueError("no unique ID in HK packet")
+    unique_id = struct.unpack("!I", pus_tm.source_data[:4])[0]
+    if (
+        pus_tm.subservice == Subservice.TM_HK_REPORT
+        or pus_tm.subservice == Subservice.TM_DIAGNOSTICS_REPORT
+    ):
+        if len(pus_tm.source_data) < 8:
+            raise ValueError("no set ID in HK packet")
+        set_id = struct.unpack("!I", pus_tm.source_data[4:8])[0]
+        handle_hk_report(pus_tm, unique_id, set_id)
+    _LOGGER.warning(
+        f"handling for HK packet with subservice {pus_tm.subservice} not implemented yet"
+    )
+
+
+def handle_hk_report(pus_tm: PusTm, unique_id: int, set_id: int):
+    hk_data = pus_tm.source_data[8:]
+    if pus_tm.apid == Apid.ACS:
+        if unique_id == AcsId.MGM_0:
+            handle_mgm_hk_report(pus_tm, set_id, hk_data)
+        else:
+            _LOGGER.warning(
+                f"handling for HK report with unique ID {unique_id} not implemented yet"
+            )
+    else:
+        _LOGGER.warning(
+            f"handling for HK report with apid {pus_tm.apid} not implemented yet"
+        )
--- a/satrs-example/pytmtc/pytmtc/hk_common.py
+++ b/satrs-example/pytmtc/pytmtc/hk_common.py
@ -0,0 +1,16 @@
+import struct
+
+from spacepackets.ecss import PusService, PusTc
+from spacepackets.ecss.pus_3_hk import Subservice
+
+
+def create_request_one_shot_hk_cmd(apid: int, unique_id: int, set_id: int) -> PusTc:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", set_id))
+    return PusTc(
+        service=PusService.S3_HOUSEKEEPING,
+        subservice=Subservice.TC_GENERATE_ONE_PARAMETER_REPORT,
+        apid=apid,
+        app_data=app_data,
+    )
--- a/satrs-example/pytmtc/pytmtc/mgms.py
+++ b/satrs-example/pytmtc/pytmtc/mgms.py
@ -0,0 +1,45 @@
+import logging
+import struct
+import enum
+from typing import List
+from spacepackets.ecss import PusTm
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+from pytmtc.common import AcsId, Apid
+from pytmtc.hk_common import create_request_one_shot_hk_cmd
+from pytmtc.mode import handle_set_mode_cmd
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class SetId(enum.IntEnum):
+    SENSOR_SET = 0
+
+
+def create_mgm_cmds(q: DefaultPusQueueHelper, cmd_path: List[str]):
+    assert len(cmd_path) >= 3
+    if cmd_path[2] == "hk":
+        if cmd_path[3] == "one_shot_hk":
+            q.add_log_cmd("Sending HK one shot request")
+            q.add_pus_tc(
+                create_request_one_shot_hk_cmd(Apid.ACS, AcsId.MGM_0, SetId.SENSOR_SET)
+            )
+
+    if cmd_path[2] == "mode":
+        if cmd_path[3] == "set_mode":
+            handle_set_mode_cmd(q, "MGM 0", cmd_path[4], Apid.ACS, AcsId.MGM_0)
+
+
+def handle_mgm_hk_report(pus_tm: PusTm, set_id: int, hk_data: bytes):
+    if set_id == SetId.SENSOR_SET:
+        if len(hk_data) != 13:
+            raise ValueError(f"invalid HK data length, expected 13, got {len(hk_data)}")
+        data_valid = hk_data[0]
+        mgm_x = struct.unpack("!f", hk_data[1:5])[0]
+        mgm_y = struct.unpack("!f", hk_data[5:9])[0]
+        mgm_z = struct.unpack("!f", hk_data[9:13])[0]
+        _LOGGER.info(
+            f"received MGM HK set in uT: Valid {data_valid} X {mgm_x} Y {mgm_y} Z {mgm_z}"
+        )
+        pass
--- a/satrs-example/pytmtc/pytmtc/mode.py
+++ b/satrs-example/pytmtc/pytmtc/mode.py
@ -0,0 +1,31 @@
+import struct
+from spacepackets.ecss import PusTc
+from tmtccmd.pus.s200_fsfw_mode import Mode, Subservice
+from tmtccmd.tmtc import DefaultPusQueueHelper
+
+
+def create_set_mode_cmd(apid: int, unique_id: int, mode: int, submode: int) -> PusTc:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", mode))
+    app_data.extend(struct.pack("!H", submode))
+    return PusTc(
+        service=200,
+        subservice=Subservice.TC_MODE_COMMAND,
+        apid=apid,
+        app_data=app_data,
+    )
+
+
+def handle_set_mode_cmd(
+    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
+):
+    if mode_str == "off":
+        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
+    elif mode_str == "on":
+        q.add_log_cmd(f"Sending Mode ON to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
+    elif mode_str == "normal":
+        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
--- a/satrs-example/pytmtc/pytmtc/pus_tc.py
+++ b/satrs-example/pytmtc/pytmtc/pus_tc.py
@ -1,33 +1,69 @@
 import datetime
-import struct
 import logging

 from spacepackets.ccsds import CdsShortTimestamp
 from spacepackets.ecss import PusTelecommand
+from spacepackets.seqcount import FileSeqCountProvider
+from tmtccmd import ProcedureWrapper, TcHandlerBase
 from tmtccmd.config import CmdTreeNode
-from tmtccmd.pus.tc.s200_fsfw_mode import Mode
-from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import (
+    DefaultPusQueueHelper,
+    FeedWrapper,
+    QueueWrapper,
+    SendCbParams,
+    TcProcedureType,
+    TcQueueEntryType,
+)
 from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice

-from common import AcsId, Apid
+from pytmtc.common import Apid
+from pytmtc.mgms import create_mgm_cmds

 _LOGGER = logging.getLogger(__name__)


-def create_set_mode_cmd(
-    apid: int, unique_id: int, mode: int, submode: int
-) -> PusTelecommand:
-    app_data = bytearray()
-    app_data.extend(struct.pack("!I", unique_id))
-    app_data.extend(struct.pack("!I", mode))
-    app_data.extend(struct.pack("!H", submode))
-    return PusTelecommand(
-        service=200,
-        subservice=ModeSubservice.TC_MODE_COMMAND,
-        apid=apid,
-        app_data=app_data,
-    )
+class TcHandler(TcHandlerBase):
+    def __init__(
+        self,
+        seq_count_provider: FileSeqCountProvider,
+        verif_wrapper: VerificationWrapper,
+    ):
+        super(TcHandler, self).__init__()
+        self.seq_count_provider = seq_count_provider
+        self.verif_wrapper = verif_wrapper
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            seq_cnt_provider=seq_count_provider,
+            pus_verificator=self.verif_wrapper.pus_verificator,
+            default_pus_apid=None,
+        )
+
+    def send_cb(self, send_params: SendCbParams):
+        entry_helper = send_params.entry
+        if entry_helper.is_tc:
+            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
+                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
+                raw_tc = pus_tc_wrapper.pus_tc.pack()
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                send_params.com_if.send(raw_tc)
+        elif entry_helper.entry_type == TcQueueEntryType.LOG:
+            log_entry = entry_helper.to_log_entry()
+            _LOGGER.info(log_entry.log_str)
+
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
+
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
+        q = self.queue_helper
+        q.queue_wrapper = wrapper.queue_wrapper
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
+            assert def_proc.cmd_path is not None
+            pack_pus_telecommands(q, def_proc.cmd_path)


 def create_cmd_definition_tree() -> CmdTreeNode:
@ -112,32 +148,4 @@ def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
    if cmd_path_list[0] == "acs":
        assert len(cmd_path_list) >= 2
        if cmd_path_list[1] == "mgms":
-            assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "hk":
-                if cmd_path_list[3] == "one_shot_hk":
-                    q.add_log_cmd("Sending HK one shot request")
-                    # TODO: Fix
-                    # q.add_pus_tc(
-                    #   create_request_one_hk_command(
-                    #    make_addressable_id(Apid.ACS, AcsId.MGM_SET)
-                    # )
-                    # )
-            if cmd_path_list[2] == "mode":
-                if cmd_path_list[3] == "set_mode":
-                    handle_set_mode_cmd(
-                        q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
-                    )
-
-
-def handle_set_mode_cmd(
-    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
-):
-    if mode_str == "off":
-        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
-    elif mode_str == "on":
-        q.add_log_cmd(f"Sending Mode ON to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
-    elif mode_str == "normal":
-        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
-        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))
+            create_mgm_cmds(q, cmd_path_list)
--- a/satrs-example/pytmtc/pytmtc/pus_tm.py
+++ b/satrs-example/pytmtc/pytmtc/pus_tm.py
@ -0,0 +1,93 @@
+import logging
+from typing import Any
+from spacepackets.ccsds.time import CdsShortTimestamp
+from spacepackets.ecss import PusTm
+from spacepackets.ecss.pus_17_test import Service17Tm
+from spacepackets.ecss.pus_1_verification import Service1Tm, UnpackParams
+from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
+from tmtccmd.pus import VerificationWrapper
+from tmtccmd.tmtc import GenericApidHandlerBase
+
+from pytmtc.common import Apid, EventU32
+from pytmtc.hk import handle_hk_packet
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class PusHandler(GenericApidHandlerBase):
+    def __init__(
+        self,
+        file_logger: logging.Logger,
+        verif_wrapper: VerificationWrapper,
+        raw_logger: RawTmtcTimedLogWrapper,
+    ):
+        super().__init__(None)
+        self.file_logger = file_logger
+        self.raw_logger = raw_logger
+        self.verif_wrapper = verif_wrapper
+
+    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
+        try:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        except ValueError as e:
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            raise e
+        service = pus_tm.service
+        if service == 1:
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
+            )
+            res = self.verif_wrapper.add_tm(tm_packet)
+            if res is None:
+                _LOGGER.info(
+                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
+                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
+                )
+                _LOGGER.warning(
+                    f"No matching telecommand found for {tm_packet.tc_req_id}"
+                )
+            else:
+                self.verif_wrapper.log_to_console(tm_packet, res)
+                self.verif_wrapper.log_to_file(tm_packet, res)
+        elif service == 3:
+            pus_tm = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            handle_hk_packet(pus_tm)
+        elif service == 5:
+            tm_packet = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            src_data = tm_packet.source_data
+            event_u32 = EventU32.unpack(src_data)
+            _LOGGER.info(
+                f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
+            )
+            if event_u32.group_id == 0 and event_u32.unique_id == 0:
+                _LOGGER.info("Received test event")
+        elif service == 17:
+            tm_packet = Service17Tm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+            if tm_packet.subservice == 2:
+                self.file_logger.info("Received Ping Reply TM[17,2]")
+                _LOGGER.info("Received Ping Reply TM[17,2]")
+            else:
+                self.file_logger.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+                _LOGGER.info(
+                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
+                )
+        else:
+            _LOGGER.info(
+                f"The service {service} is not implemented in Telemetry Factory"
+            )
+            tm_packet = PusTm.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
+        self.raw_logger.log_tm(pus_tm)
--- a/satrs-example/pytmtc/requirements.txt
+++ b/satrs-example/pytmtc/requirements.txt
@ -0,0 +1 @@
+.
--- a/satrs-example/pytmtc/tests/init.py
+++ b/satrs-example/pytmtc/tests/init.py
--- a/satrs-example/pytmtc/tests/test_tc_mods.py
+++ b/satrs-example/pytmtc/tests/test_tc_mods.py
@ -0,0 +1,48 @@
+from unittest import TestCase
+
+from spacepackets.ccsds import CdsShortTimestamp
+from tmtccmd.tmtc import DefaultPusQueueHelper, QueueEntryHelper
+from tmtccmd.tmtc.queue import QueueWrapper
+
+from pytmtc.config import SatrsConfigHook
+from pytmtc.pus_tc import pack_pus_telecommands
+
+
+class TestTcModules(TestCase):
+    def setUp(self):
+        self.hook = SatrsConfigHook(json_cfg_path="tmtc_conf.json")
+        self.queue_helper = DefaultPusQueueHelper(
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
+            seq_cnt_provider=None,
+            pus_verificator=None,
+            default_pus_apid=None,
+        )
+
+    def test_cmd_tree_creation_works_without_errors(self):
+        cmd_defs = self.hook.get_command_definitions()
+        self.assertIsNotNone(cmd_defs)
+
+    def test_ping_cmd_generation(self):
+        pack_pus_telecommands(self.queue_helper, "/test/ping")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper = QueueEntryHelper(queue_entry)
+        log_queue = entry_helper.to_log_entry()
+        self.assertEqual(log_queue.log_str, "Sending PUS ping telecommand")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper.entry = queue_entry
+        pus_tc_entry = entry_helper.to_pus_tc_entry()
+        self.assertEqual(pus_tc_entry.pus_tc.service, 17)
+        self.assertEqual(pus_tc_entry.pus_tc.subservice, 1)
+
+    def test_event_trigger_generation(self):
+        pack_pus_telecommands(self.queue_helper, "/test/trigger_event")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper = QueueEntryHelper(queue_entry)
+        log_queue = entry_helper.to_log_entry()
+        self.assertEqual(log_queue.log_str, "Triggering test event")
+        queue_entry = self.queue_helper.queue_wrapper.queue.popleft()
+        entry_helper.entry = queue_entry
+        pus_tc_entry = entry_helper.to_pus_tc_entry()
+        self.assertEqual(pus_tc_entry.pus_tc.service, 17)
+        self.assertEqual(pus_tc_entry.pus_tc.subservice, 128)
--- a/satrs-example/satrs-tmtc/tmtc_conf.json
+++ b/satrs-example/satrs-tmtc/tmtc_conf.json
--- a/satrs-example/satrs-tmtc/requirements.txt
+++ b/satrs-example/satrs-tmtc/requirements.txt
@ -1,2 +0,0 @@
-tmtccmd == 8.0.0rc1
-# -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd
--- a/satrs-example/satrs-tmtc/tc_definitions.py
+++ b/satrs-example/satrs-tmtc/tc_definitions.py
@ -1,38 +0,0 @@
-from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper, CoreServiceList
-from tmtccmd.config.globals import get_default_tmtc_defs
-
-from common import HkOpCodes
-
-
-def tc_definitions() -> TmtcDefinitionWrapper:
-    defs = get_default_tmtc_defs()
-    srv_5 = OpCodeEntry()
-    srv_5.add("0", "Event Test")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_5.value,
-        info="PUS Service 5 Event",
-        op_code_entry=srv_5,
-    )
-    srv_17 = OpCodeEntry()
-    srv_17.add("ping", "Ping Test")
-    srv_17.add("trigger_event", "Trigger Event")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_17_ALT,
-        info="PUS Service 17 Test",
-        op_code_entry=srv_17,
-    )
-    srv_3 = OpCodeEntry()
-    srv_3.add(HkOpCodes.GENERATE_ONE_SHOT, "Generate AOCS one shot HK")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_3,
-        info="PUS Service 3 Housekeeping",
-        op_code_entry=srv_3,
-    )
-    srv_11 = OpCodeEntry()
-    srv_11.add("0", "Scheduled TC Test")
-    defs.add_service(
-        name=CoreServiceList.SERVICE_11,
-        info="PUS Service 11 TC Scheduling",
-        op_code_entry=srv_11,
-    )
-    return defs
--- a/satrs-example/src/acs/mgm.rs
+++ b/satrs-example/src/acs/mgm.rs
@ -1,52 +1,126 @@
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::power::{PowerSwitchInfo, PowerSwitcherCommandSender};
 use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
-use satrs::spacepackets::ecss::hk;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::SpHeader;
-use satrs_example::{DeviceMode, TimeStampHelper};
+use satrs_example::{DeviceMode, TimestampHelper};
+use satrs_minisim::acs::lis3mdl::{
+    MgmLis3MdlReply, MgmLis3RawValues, FIELD_LSB_PER_GAUSS_4_SENS, GAUSS_TO_MICROTESLA_FACTOR,
+};
+use satrs_minisim::acs::MgmRequestLis3Mdl;
+use satrs_minisim::eps::PcduSwitch;
+use satrs_minisim::{SerializableSimMsgPayload, SimReply, SimRequest};
+use std::fmt::Debug;
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
+use std::time::Duration;

 use satrs::mode::{
    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
 };
 use satrs::pus::{EcssTmSender, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
-use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::components::{NO_SENDER, PUS_MODE_SERVICE};

+use crate::hk::PusHkHelper;
 use crate::pus::hk::{HkReply, HkReplyVariant};
 use crate::requests::CompositeRequest;

 use serde::{Deserialize, Serialize};

-const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
-// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
-const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+pub const NR_OF_DATA_AND_CFG_REGISTERS: usize = 14;
+
+// Register adresses to access various bytes from the raw reply.
+pub const X_LOWBYTE_IDX: usize = 9;
+pub const Y_LOWBYTE_IDX: usize = 11;
+pub const Z_LOWBYTE_IDX: usize = 13;
+
+#[derive(Debug, Copy, Clone, Serialize, Deserialize)]
+#[repr(u32)]
+pub enum SetId {
+    SensorData = 0,
+}
+
+#[derive(Default, Debug, PartialEq, Eq)]
+pub enum TransitionState {
+    #[default]
+    Idle,
+    PowerSwitching,
+    Done,
+}

 pub trait SpiInterface {
-    type Error;
+    type Error: Debug;
    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
 }

 #[derive(Default)]
 pub struct SpiDummyInterface {
-    pub dummy_val_0: i16,
-    pub dummy_val_1: i16,
-    pub dummy_val_2: i16,
+    pub dummy_values: MgmLis3RawValues,
 }

 impl SpiInterface for SpiDummyInterface {
    type Error = ();

    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
-        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
-        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
-        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.x.to_le_bytes());
+        rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.y.to_be_bytes());
+        rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2].copy_from_slice(&self.dummy_values.z.to_be_bytes());
        Ok(())
    }
 }

+pub struct SpiSimInterface {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+impl SpiInterface for SpiSimInterface {
+    type Error = ();
+
+    // Right now, we only support requesting sensor data and not configuration of the sensor.
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        let mgm_sensor_request = MgmRequestLis3Mdl::RequestSensorData;
+        if let Err(e) = self
+            .sim_request_tx
+            .send(SimRequest::new_with_epoch_time(mgm_sensor_request))
+        {
+            log::error!("failed to send MGM LIS3 request: {}", e);
+        }
+        match self.sim_reply_rx.recv_timeout(Duration::from_millis(50)) {
+            Ok(sim_reply) => {
+                let sim_reply_lis3 = MgmLis3MdlReply::from_sim_message(&sim_reply)
+                    .expect("failed to parse LIS3 reply");
+                rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.x.to_le_bytes());
+                rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.y.to_le_bytes());
+                rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                    .copy_from_slice(&sim_reply_lis3.raw.z.to_le_bytes());
+            }
+            Err(e) => {
+                log::warn!("MGM LIS3 SIM reply timeout: {}", e);
+            }
+        }
+        Ok(())
+    }
+}
+
+pub enum SpiSimInterfaceWrapper {
+    Dummy(SpiDummyInterface),
+    Sim(SpiSimInterface),
+}
+
+impl SpiInterface for SpiSimInterfaceWrapper {
+    type Error = ();
+
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        match self {
+            SpiSimInterfaceWrapper::Dummy(dummy) => dummy.transfer(tx, rx),
+            SpiSimInterfaceWrapper::Sim(sim_if) => sim_if.transfer(tx, rx),
+        }
+    }
+}
+
 #[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
 pub struct MgmData {
    pub valid: bool,
@ -57,61 +131,86 @@ pub struct MgmData {

 pub struct MpscModeLeafInterface {
    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
-    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
-    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_to_pus_tx: mpsc::Sender<GenericMessage<ModeReply>>,
+    #[allow(dead_code)]
+    pub reply_to_parent_tx: mpsc::SyncSender<GenericMessage<ModeReply>>,
+}
+
+#[derive(Default)]
+pub struct BufWrapper {
+    tx_buf: [u8; 32],
+    rx_buf: [u8; 32],
+    tm_buf: [u8; 32],
+}
+
+pub struct ModeHelpers {
+    current: ModeAndSubmode,
+    target: Option<ModeAndSubmode>,
+    requestor_info: Option<MessageMetadata>,
+    transition_state: TransitionState,
+}
+
+impl Default for ModeHelpers {
+    fn default() -> Self {
+        Self {
+            current: ModeAndSubmode::new(DeviceMode::Off as u32, 0),
+            target: Default::default(),
+            requestor_info: Default::default(),
+            transition_state: Default::default(),
+        }
+    }
 }

 /// Example MGM device handler strongly based on the LIS3MDL MEMS device.
 #[derive(new)]
 #[allow(clippy::too_many_arguments)]
-pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
+pub struct MgmHandlerLis3Mdl<
+    ComInterface: SpiInterface,
+    TmSender: EcssTmSender,
+    SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+> {
    id: UniqueApidTargetId,
    dev_str: &'static str,
    mode_interface: MpscModeLeafInterface,
-    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    switch_helper: SwitchHelper,
    tm_sender: TmSender,
-    com_interface: ComInterface,
+    pub com_interface: ComInterface,
    shared_mgm_set: Arc<Mutex<MgmData>>,
-    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
-    mode_and_submode: ModeAndSubmode,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
    #[new(default)]
-    tx_buf: [u8; 12],
+    mode_helpers: ModeHelpers,
    #[new(default)]
-    rx_buf: [u8; 12],
+    bufs: BufWrapper,
    #[new(default)]
-    tm_buf: [u8; 16],
-    #[new(default)]
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }

-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+{
    pub fn periodic_operation(&mut self) {
        self.stamp_helper.update_from_now();
        // Handle requests.
        self.handle_composite_requests();
        self.handle_mode_requests();
+        if let Some(target_mode_submode) = self.mode_helpers.target {
+            self.handle_mode_transition(target_mode_submode);
+        }
        if self.mode() == DeviceMode::Normal as u32 {
            log::trace!("polling LIS3MDL sensor {}", self.dev_str);
-            // Communicate with the device.
-            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
-            assert!(result.is_ok());
-            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
-            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
-            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
-            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
-            // Simple scaling to retrieve the float value, assuming a sensor resolution of
-            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
-            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
-            drop(mgm_guard);
+            self.poll_sensor();
        }
    }

    pub fn handle_composite_requests(&mut self) {
        loop {
-            match self.composite_request_receiver.try_recv() {
+            match self.composite_request_rx.try_recv() {
                Ok(ref msg) => match &msg.message {
                    CompositeRequest::Hk(hk_request) => {
                        self.handle_hk_request(&msg.requestor_info, hk_request)
@ -139,34 +238,33 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
        match hk_request.variant {
            HkRequestVariant::OneShot => {
-                self.hk_reply_sender
-                    .send(GenericMessage::new(
-                        *requestor_info,
-                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
-                    ))
-                    .expect("failed to send HK reply");
-                let sec_header = PusTmSecondaryHeader::new(
-                    3,
-                    hk::Subservice::TmHkPacket as u8,
-                    0,
-                    0,
-                    self.stamp_helper.stamp(),
-                );
                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
-                // Use binary serialization here. We want the data to be tightly packed.
-                self.tm_buf[0] = mgm_snapshot.valid as u8;
-                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
-                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
-                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
-                let hk_tm = PusTmCreator::new(
-                    SpHeader::new_from_apid(self.id.apid),
-                    sec_header,
-                    &self.tm_buf[0..12],
-                    true,
-                );
-                self.tm_sender
-                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
-                    .expect("failed to send HK TM");
+                if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                    self.stamp_helper.stamp(),
+                    SetId::SensorData as u32,
+                    &mut |hk_buf| {
+                        hk_buf[0] = mgm_snapshot.valid as u8;
+                        hk_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                        hk_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                        hk_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                        Ok(13)
+                    },
+                    &mut self.bufs.tm_buf,
+                ) {
+                    // TODO: If sending the TM fails, we should also send a failure reply.
+                    self.tm_sender
+                        .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                        .expect("failed to send HK TM");
+                    self.hk_reply_tx
+                        .send(GenericMessage::new(
+                            *requestor_info,
+                            HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                        ))
+                        .expect("failed to send HK reply");
+                } else {
+                    // TODO: Send back failure reply. Need result code for this.
+                    log::error!("TM buffer too small to generate HK data");
+                }
            }
            HkRequestVariant::EnablePeriodic => todo!(),
            HkRequestVariant::DisablePeriodic => todo!(),
@ -199,20 +297,91 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComIn
            }
        }
    }
-}

-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
-{
-    fn mode_and_submode(&self) -> ModeAndSubmode {
-        self.mode_and_submode
+    pub fn poll_sensor(&mut self) {
+        // Communicate with the device. This is actually how to read the data from the LIS3 device
+        // SPI interface.
+        self.com_interface
+            .transfer(
+                &self.bufs.tx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+                &mut self.bufs.rx_buf[0..NR_OF_DATA_AND_CFG_REGISTERS + 1],
+            )
+            .expect("failed to transfer data");
+        let x_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let y_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        let z_raw = i16::from_le_bytes(
+            self.bufs.rx_buf[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .try_into()
+                .unwrap(),
+        );
+        // Simple scaling to retrieve the float value, assuming the best sensor resolution.
+        let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+        mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        mgm_guard.valid = true;
+        drop(mgm_guard);
+    }
+
+    pub fn handle_mode_transition(&mut self, target_mode_submode: ModeAndSubmode) {
+        if target_mode_submode.mode() == DeviceMode::On as u32
+            || target_mode_submode.mode() == DeviceMode::Normal as u32
+        {
+            if self.mode_helpers.transition_state == TransitionState::Idle {
+                let result = self
+                    .switch_helper
+                    .send_switch_on_cmd(MessageMetadata::new(0, self.id.id()), PcduSwitch::Mgm);
+                if result.is_err() {
+                    // Could not send switch command.. still continue with transition.
+                    log::error!("failed to send switch on command");
+                }
+                self.mode_helpers.transition_state = TransitionState::PowerSwitching;
+            }
+            if self.mode_helpers.transition_state == TransitionState::PowerSwitching
+                && self
+                    .switch_helper
+                    .is_switch_on(PcduSwitch::Mgm)
+                    .expect("switch info error")
+            {
+                self.mode_helpers.transition_state = TransitionState::Done;
+            }
+            if self.mode_helpers.transition_state == TransitionState::Done {
+                self.mode_helpers.current = self.mode_helpers.target.unwrap();
+                self.handle_mode_reached(self.mode_helpers.requestor_info)
+                    .expect("failed to handle mode reached");
+                self.mode_helpers.transition_state = TransitionState::Idle;
+            }
+        }
    }
 }

-impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
-    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeProvider for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_helpers.current
+    }
+}
+
+impl<
+        ComInterface: SpiInterface,
+        TmSender: EcssTmSender,
+        SwitchHelper: PowerSwitchInfo<PcduSwitch> + PowerSwitcherCommandSender<PcduSwitch>,
+    > ModeRequestHandler for MgmHandlerLis3Mdl<ComInterface, TmSender, SwitchHelper>
 {
    type Error = ModeError;
+
    fn start_transition(
        &mut self,
        requestor: MessageMetadata,
@ -223,8 +392,18 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
            self.dev_str,
            mode_and_submode
        );
-        self.mode_and_submode = mode_and_submode;
-        self.handle_mode_reached(Some(requestor))?;
+        self.mode_helpers.current = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_mgm_set.lock().unwrap().valid = false;
+            self.handle_mode_reached(Some(requestor))?;
+        } else if mode_and_submode.mode() == DeviceMode::Normal as u32
+            || mode_and_submode.mode() == DeviceMode::On as u32
+        {
+            // TODO: Write helper method for the struct? Might help for other handlers as well..
+            self.mode_helpers.transition_state = TransitionState::Idle;
+            self.mode_helpers.requestor_info = Some(requestor);
+            self.mode_helpers.target = Some(mode_and_submode);
+        }
        Ok(())
    }

@ -232,7 +411,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
        log::info!(
            "{} announcing mode: {:?}",
            self.dev_str,
-            self.mode_and_submode
+            self.mode_and_submode()
        );
    }

@ -240,11 +419,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
        &mut self,
        requestor: Option<MessageMetadata>,
    ) -> Result<(), Self::Error> {
+        self.mode_helpers.target = None;
        self.announce_mode(requestor, false);
        if let Some(requestor) = requestor {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
                log::warn!(
-                    "can not send back mode reply to sender {}",
+                    "can not send back mode reply to sender {:x}",
                    requestor.sender_id()
                );
            } else {
@ -266,7 +449,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
            );
        }
        self.mode_interface
-            .reply_tx_to_pus
+            .reply_to_pus_tx
            .send(GenericMessage::new(requestor, reply))
            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
        Ok(())
@ -280,3 +463,193 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
        Ok(())
    }
 }
+
+#[cfg(test)]
+mod tests {
+    use std::sync::{mpsc, Arc};
+
+    use satrs::{
+        mode::{ModeReply, ModeRequest},
+        power::SwitchStateBinary,
+        request::{GenericMessage, UniqueApidTargetId},
+        tmtc::PacketAsVec,
+    };
+    use satrs_example::config::components::Apid;
+    use satrs_minisim::acs::lis3mdl::MgmLis3RawValues;
+
+    use crate::{eps::TestSwitchHelper, pus::hk::HkReply, requests::CompositeRequest};
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct TestSpiInterface {
+        pub call_count: u32,
+        pub next_mgm_data: MgmLis3RawValues,
+    }
+
+    impl SpiInterface for TestSpiInterface {
+        type Error = ();
+
+        fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+            rx[X_LOWBYTE_IDX..X_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.x.to_le_bytes());
+            rx[Y_LOWBYTE_IDX..Y_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.y.to_le_bytes());
+            rx[Z_LOWBYTE_IDX..Z_LOWBYTE_IDX + 2]
+                .copy_from_slice(&self.next_mgm_data.z.to_le_bytes());
+            self.call_count += 1;
+            Ok(())
+        }
+    }
+
+    pub struct MgmTestbench {
+        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub handler:
+            MgmHandlerLis3Mdl<TestSpiInterface, mpsc::Sender<PacketAsVec>, TestSwitchHelper>,
+    }
+
+    impl MgmTestbench {
+        pub fn new() -> Self {
+            let (request_tx, request_rx) = mpsc::channel();
+            let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::channel();
+            let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
+            let mode_interface = MpscModeLeafInterface {
+                request_rx,
+                reply_to_pus_tx: reply_tx_to_pus,
+                reply_to_parent_tx: reply_tx_to_parent,
+            };
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let shared_mgm_set = Arc::default();
+            Self {
+                mode_request_tx: request_tx,
+                mode_reply_rx_to_pus: reply_rx_to_pus,
+                mode_reply_rx_to_parent: reply_rx_to_parent,
+                composite_request_tx,
+                tm_rx,
+                hk_reply_rx,
+                handler: MgmHandlerLis3Mdl::new(
+                    UniqueApidTargetId::new(Apid::Acs as u16, 1),
+                    "TEST_MGM",
+                    mode_interface,
+                    composite_request_rx,
+                    hk_reply_tx,
+                    TestSwitchHelper::default(),
+                    tm_tx,
+                    TestSpiInterface::default(),
+                    shared_mgm_set,
+                ),
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = MgmTestbench::new();
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation();
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.call_count, 0);
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_handler() {
+        let mut testbench = MgmTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        // Verify power switch handling.
+        let mut switch_requests = testbench.handler.switch_helper.switch_requests.borrow_mut();
+        assert_eq!(switch_requests.len(), 1);
+        let switch_req = switch_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_req.target_state, SwitchStateBinary::On);
+        assert_eq!(switch_req.switch_id, PcduSwitch::Mgm);
+        let mut switch_info_requests = testbench
+            .handler
+            .switch_helper
+            .switch_info_requests
+            .borrow_mut();
+        assert_eq!(switch_info_requests.len(), 1);
+        let switch_info_req = switch_info_requests.pop_front().expect("no switch request");
+        assert_eq!(switch_info_req, PcduSwitch::Mgm);
+
+        let mode_reply = testbench
+            .mode_reply_rx_to_pus
+            .try_recv()
+            .expect("no mode reply generated");
+        match mode_reply.message {
+            ModeReply::ModeReply(mode) => {
+                assert_eq!(mode.mode(), DeviceMode::Normal as u32);
+                assert_eq!(mode.submode(), 0);
+            }
+            _ => panic!("unexpected mode reply"),
+        }
+        // The device should have been polled once.
+        assert_eq!(testbench.handler.com_interface.call_count, 1);
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        assert!(mgm_set.x < 0.001);
+        assert!(mgm_set.y < 0.001);
+        assert!(mgm_set.z < 0.001);
+        assert!(mgm_set.valid);
+    }
+
+    #[test]
+    fn test_normal_handler_mgm_set_conversion() {
+        let mut testbench = MgmTestbench::new();
+        let raw_values = MgmLis3RawValues {
+            x: 1000,
+            y: -1000,
+            z: 1000,
+        };
+        testbench.handler.com_interface.next_mgm_data = raw_values;
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench.handler.periodic_operation();
+        let mgm_set = *testbench.handler.shared_mgm_set.lock().unwrap();
+        let expected_x =
+            raw_values.x as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_y =
+            raw_values.y as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let expected_z =
+            raw_values.z as f32 * GAUSS_TO_MICROTESLA_FACTOR as f32 * FIELD_LSB_PER_GAUSS_4_SENS;
+        let x_diff = (mgm_set.x - expected_x).abs();
+        let y_diff = (mgm_set.y - expected_y).abs();
+        let z_diff = (mgm_set.z - expected_z).abs();
+        assert!(x_diff < 0.001, "x diff too large: {}", x_diff);
+        assert!(y_diff < 0.001, "y diff too large: {}", y_diff);
+        assert!(z_diff < 0.001, "z diff too large: {}", z_diff);
+        assert!(mgm_set.valid);
+    }
+}
--- a/satrs-example/src/bin/test.rs
+++ b/satrs-example/src/bin/test.rs
@ -3,7 +3,7 @@
 use crossbeam_channel::{bounded, Receiver, Sender};
 use std::sync::atomic::{AtomicU16, Ordering};
 use std::thread;
-use zerocopy::{AsBytes, FromBytes, NetworkEndian, Unaligned, U16};
+use zerocopy::{FromBytes, Immutable, IntoBytes, NetworkEndian, Unaligned, U16};

 trait FieldDataProvider: Send {
    fn get_data(&self) -> &[u8];
@ -35,7 +35,7 @@ struct ExampleMgmSet {
    temperature: u16,
 }

-#[derive(FromBytes, AsBytes, Unaligned)]
+#[derive(FromBytes, IntoBytes, Immutable, Unaligned)]
 #[repr(C)]
 struct ExampleMgmSetZc {
    mgm_vec: [u8; 12],
--- a/satrs-example/src/config.rs
+++ b/satrs-example/src/config.rs
@ -38,8 +38,7 @@ pub enum GroupId {
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
 pub const SERVER_PORT: u16 = 7301;

-pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::new(0, 0);

 lazy_static! {
    pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
@ -123,7 +122,7 @@ pub mod mode_err {
 }

 pub mod components {
-    use satrs::request::UniqueApidTargetId;
+    use satrs::{request::UniqueApidTargetId, ComponentId};
    use strum::EnumIter;

    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
@ -133,6 +132,7 @@ pub mod components {
        Acs = 3,
        Cfdp = 4,
        Tmtc = 5,
+        Eps = 6,
    }

    // Component IDs for components with the PUS APID.
@ -151,6 +151,11 @@ pub mod components {
        Mgm0 = 0,
    }

+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum EpsId {
+        Pcdu = 0,
+    }
+
    #[derive(Copy, Clone, PartialEq, Eq)]
    pub enum TmtcId {
        UdpServer = 0,
@ -173,17 +178,20 @@ pub mod components {
        UniqueApidTargetId::new(Apid::Sched as u16, 0);
    pub const MGM_HANDLER_0: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const PCDU_HANDLER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Eps as u16, EpsId::Pcdu as u32);
    pub const UDP_SERVER: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
    pub const TCP_SERVER: UniqueApidTargetId =
        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
+    pub const NO_SENDER: ComponentId = ComponentId::MAX;
 }

 pub mod pool {
    use super::*;
    pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
        (
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                vec![
                    (30, 32),
                    (15, 64),
@ -194,7 +202,7 @@ pub mod pool {
                ],
                true,
            )),
-            StaticMemoryPool::new(StaticPoolConfig::new(
+            StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
                vec![
                    (30, 32),
                    (15, 64),
@ -209,7 +217,7 @@ pub mod pool {
    }

    pub fn create_sched_tc_pool() -> StaticMemoryPool {
-        StaticMemoryPool::new(StaticPoolConfig::new(
+        StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
            vec![
                (30, 32),
                (15, 64),
@ -225,7 +233,7 @@ pub mod pool {

 pub mod tasks {
    pub const FREQ_MS_UDP_TMTC: u64 = 200;
-    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
    pub const FREQ_MS_AOCS: u64 = 500;
    pub const FREQ_MS_PUS_STACK: u64 = 200;
+    pub const SIM_CLIENT_IDLE_DELAY_MS: u64 = 5;
 }
--- a/satrs-example/src/eps/mod.rs
+++ b/satrs-example/src/eps/mod.rs
@ -0,0 +1,197 @@
+use derive_new::new;
+use std::{cell::RefCell, collections::VecDeque, sync::mpsc, time::Duration};
+
+use satrs::{
+    power::{
+        PowerSwitchInfo, PowerSwitcherCommandSender, SwitchRequest, SwitchState, SwitchStateBinary,
+    },
+    queue::GenericSendError,
+    request::{GenericMessage, MessageMetadata},
+};
+use satrs_minisim::eps::{PcduSwitch, SwitchMapWrapper};
+use thiserror::Error;
+
+use self::pcdu::SharedSwitchSet;
+
+pub mod pcdu;
+
+#[derive(new, Clone)]
+pub struct PowerSwitchHelper {
+    switcher_tx: mpsc::SyncSender<GenericMessage<SwitchRequest>>,
+    shared_switch_set: SharedSwitchSet,
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchCommandingError {
+    #[error("send error: {0}")]
+    Send(#[from] GenericSendError),
+}
+
+#[derive(Debug, Error, Copy, Clone, PartialEq, Eq)]
+pub enum SwitchInfoError {
+    /// This is a configuration error which should not occur.
+    #[error("switch ID not in map")]
+    SwitchIdNotInMap(PcduSwitch),
+    #[error("switch set invalid")]
+    SwitchSetInvalid,
+}
+
+impl PowerSwitchInfo<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let switch_set = self
+            .shared_switch_set
+            .lock()
+            .expect("failed to lock switch set");
+        if !switch_set.valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+
+        if let Some(state) = switch_set.switch_map.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        // Here, we could set device specific switch delays theoretically. Set it to this value
+        // for now.
+        Duration::from_millis(1000)
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for PowerSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_on_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: satrs::request::MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        self.switcher_tx
+            .send_switch_off_cmd(requestor_info, switch_id)?;
+        Ok(())
+    }
+}
+
+#[allow(dead_code)]
+#[derive(new)]
+pub struct SwitchRequestInfo {
+    pub requestor_info: MessageMetadata,
+    pub switch_id: PcduSwitch,
+    pub target_state: satrs::power::SwitchStateBinary,
+}
+
+// Test switch helper which can be used for unittests.
+pub struct TestSwitchHelper {
+    pub switch_requests: RefCell<VecDeque<SwitchRequestInfo>>,
+    pub switch_info_requests: RefCell<VecDeque<PcduSwitch>>,
+    #[allow(dead_code)]
+    pub switch_delay_request_count: u32,
+    pub next_switch_delay: Duration,
+    pub switch_map: RefCell<SwitchMapWrapper>,
+    pub switch_map_valid: bool,
+}
+
+impl Default for TestSwitchHelper {
+    fn default() -> Self {
+        Self {
+            switch_requests: Default::default(),
+            switch_info_requests: Default::default(),
+            switch_delay_request_count: Default::default(),
+            next_switch_delay: Duration::from_millis(1000),
+            switch_map: Default::default(),
+            switch_map_valid: true,
+        }
+    }
+}
+
+impl PowerSwitchInfo<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchInfoError;
+
+    fn switch_state(
+        &self,
+        switch_id: PcduSwitch,
+    ) -> Result<satrs::power::SwitchState, Self::Error> {
+        let mut switch_info_requests_mut = self.switch_info_requests.borrow_mut();
+        switch_info_requests_mut.push_back(switch_id);
+        if !self.switch_map_valid {
+            return Err(SwitchInfoError::SwitchSetInvalid);
+        }
+        let switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(state) = switch_map_mut.0.get(&switch_id) {
+            return Ok(*state);
+        }
+        Err(SwitchInfoError::SwitchIdNotInMap(switch_id))
+    }
+
+    fn switch_delay_ms(&self) -> Duration {
+        self.next_switch_delay
+    }
+}
+
+impl PowerSwitcherCommandSender<PcduSwitch> for TestSwitchHelper {
+    type Error = SwitchCommandingError;
+
+    fn send_switch_on_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::On,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::On;
+        }
+        Ok(())
+    }
+
+    fn send_switch_off_cmd(
+        &self,
+        requestor_info: MessageMetadata,
+        switch_id: PcduSwitch,
+    ) -> Result<(), Self::Error> {
+        let mut switch_requests_mut = self.switch_requests.borrow_mut();
+        switch_requests_mut.push_back(SwitchRequestInfo {
+            requestor_info,
+            switch_id,
+            target_state: SwitchStateBinary::Off,
+        });
+        // By default, the test helper immediately acknowledges the switch request by setting
+        // the appropriate switch state in the internal switch map.
+        let mut switch_map_mut = self.switch_map.borrow_mut();
+        if let Some(switch_state) = switch_map_mut.0.get_mut(&switch_id) {
+            *switch_state = SwitchState::Off;
+        }
+        Ok(())
+    }
+}
+
+#[allow(dead_code)]
+impl TestSwitchHelper {
+    // Helper function which can be used to force a switch to another state for test purposes.
+    pub fn set_switch_state(&mut self, switch: PcduSwitch, state: SwitchState) {
+        self.switch_map.get_mut().0.insert(switch, state);
+    }
+}
--- a/satrs-example/src/eps/pcdu.rs
+++ b/satrs-example/src/eps/pcdu.rs
@ -0,0 +1,722 @@
+use std::{
+    cell::RefCell,
+    collections::VecDeque,
+    sync::{mpsc, Arc, Mutex},
+};
+
+use derive_new::new;
+use num_enum::{IntoPrimitive, TryFromPrimitive};
+use satrs::{
+    hk::{HkRequest, HkRequestVariant},
+    mode::{ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequestHandler},
+    power::SwitchRequest,
+    pus::{EcssTmSender, PusTmVariant},
+    queue::{GenericSendError, GenericTargetedMessagingError},
+    request::{GenericMessage, MessageMetadata, UniqueApidTargetId},
+    spacepackets::ByteConversionError,
+};
+use satrs_example::{
+    config::components::{NO_SENDER, PUS_MODE_SERVICE},
+    DeviceMode, TimestampHelper,
+};
+use satrs_minisim::{
+    eps::{
+        PcduReply, PcduRequest, PcduSwitch, SwitchMap, SwitchMapBinaryWrapper, SwitchMapWrapper,
+    },
+    SerializableSimMsgPayload, SimReply, SimRequest,
+};
+use serde::{Deserialize, Serialize};
+
+use crate::{
+    acs::mgm::MpscModeLeafInterface,
+    hk::PusHkHelper,
+    pus::hk::{HkReply, HkReplyVariant},
+    requests::CompositeRequest,
+};
+
+pub trait SerialInterface {
+    type Error: core::fmt::Debug;
+
+    /// Send some data via the serial interface.
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error>;
+    /// Receive all replies received on the serial interface so far. This function takes a closure
+    /// and call its for each received packet, passing the received packet into it.
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error>;
+}
+
+#[derive(new)]
+pub struct SerialInterfaceToSim {
+    pub sim_request_tx: mpsc::Sender<SimRequest>,
+    pub sim_reply_rx: mpsc::Receiver<SimReply>,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, IntoPrimitive)]
+#[repr(u32)]
+pub enum SetId {
+    SwitcherSet = 0,
+}
+
+impl SerialInterface for SerialInterfaceToSim {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let request: PcduRequest = serde_json::from_slice(data).expect("expected a PCDU request");
+        self.sim_request_tx
+            .send(SimRequest::new_with_epoch_time(request))
+            .expect("failed to send request to simulation");
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        loop {
+            match self.sim_reply_rx.try_recv() {
+                Ok(reply) => {
+                    let reply = serde_json::to_string(&reply).unwrap();
+                    f(reply.as_bytes());
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("sim reply sender has disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct SerialInterfaceDummy {
+    // Need interior mutability here for both fields.
+    pub switch_map: RefCell<SwitchMapBinaryWrapper>,
+    pub reply_deque: RefCell<VecDeque<SimReply>>,
+}
+
+impl SerialInterface for SerialInterfaceDummy {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        let pcdu_req: PcduRequest = serde_json::from_slice(data).unwrap();
+        let switch_map_mut = &mut self.switch_map.borrow_mut().0;
+        match pcdu_req {
+            PcduRequest::SwitchDevice { switch, state } => {
+                match switch_map_mut.entry(switch) {
+                    std::collections::hash_map::Entry::Occupied(mut val) => {
+                        *val.get_mut() = state;
+                    }
+                    std::collections::hash_map::Entry::Vacant(vacant) => {
+                        vacant.insert(state);
+                    }
+                };
+            }
+            PcduRequest::RequestSwitchInfo => {
+                let mut reply_deque_mut = self.reply_deque.borrow_mut();
+                reply_deque_mut.push_back(SimReply::new(&PcduReply::SwitchInfo(
+                    switch_map_mut.clone(),
+                )));
+            }
+        };
+        Ok(())
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        mut f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        if self.reply_queue_empty() {
+            return Ok(());
+        }
+        loop {
+            let reply = self.get_next_reply_as_string();
+            f(reply.as_bytes());
+            if self.reply_queue_empty() {
+                break;
+            }
+        }
+        Ok(())
+    }
+}
+
+impl SerialInterfaceDummy {
+    fn get_next_reply_as_string(&self) -> String {
+        let mut reply_deque_mut = self.reply_deque.borrow_mut();
+        let next_reply = reply_deque_mut.pop_front().unwrap();
+        serde_json::to_string(&next_reply).unwrap()
+    }
+
+    fn reply_queue_empty(&self) -> bool {
+        self.reply_deque.borrow().is_empty()
+    }
+}
+
+pub enum SerialSimInterfaceWrapper {
+    Dummy(SerialInterfaceDummy),
+    Sim(SerialInterfaceToSim),
+}
+
+impl SerialInterface for SerialSimInterfaceWrapper {
+    type Error = ();
+
+    fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.send(data),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.send(data),
+        }
+    }
+
+    fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+        &self,
+        f: ReplyHandler,
+    ) -> Result<(), Self::Error> {
+        match self {
+            SerialSimInterfaceWrapper::Dummy(dummy) => dummy.try_recv_replies(f),
+            SerialSimInterfaceWrapper::Sim(sim) => sim.try_recv_replies(f),
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum OpCode {
+    RegularOp = 0,
+    PollAndRecvReplies = 1,
+}
+
+#[derive(Clone, PartialEq, Eq, Default, Serialize, Deserialize)]
+pub struct SwitchSet {
+    pub valid: bool,
+    pub switch_map: SwitchMap,
+}
+
+pub type SharedSwitchSet = Arc<Mutex<SwitchSet>>;
+
+/// Example PCDU device handler.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct PcduHandler<ComInterface: SerialInterface, TmSender: EcssTmSender> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_interface: MpscModeLeafInterface,
+    composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_tx: mpsc::Sender<GenericMessage<HkReply>>,
+    switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
+    tm_sender: TmSender,
+    pub com_interface: ComInterface,
+    shared_switch_map: Arc<Mutex<SwitchSet>>,
+    #[new(value = "PusHkHelper::new(id)")]
+    hk_helper: PusHkHelper,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    stamp_helper: TimestampHelper,
+    #[new(value = "[0; 256]")]
+    tm_buf: [u8; 256],
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> PcduHandler<ComInterface, TmSender> {
+    pub fn periodic_operation(&mut self, op_code: OpCode) {
+        match op_code {
+            OpCode::RegularOp => {
+                self.stamp_helper.update_from_now();
+                // Handle requests.
+                self.handle_composite_requests();
+                self.handle_mode_requests();
+                self.handle_switch_requests();
+                // Poll the switch states and/or telemetry regularly here.
+                if self.mode() == DeviceMode::Normal as u32 || self.mode() == DeviceMode::On as u32
+                {
+                    self.handle_periodic_commands();
+                }
+            }
+            OpCode::PollAndRecvReplies => {
+                self.poll_and_handle_replies();
+            }
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_rx.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => {
+                if hk_request.unique_id == SetId::SwitcherSet as u32 {
+                    if let Ok(hk_tm) = self.hk_helper.generate_hk_report_packet(
+                        self.stamp_helper.stamp(),
+                        SetId::SwitcherSet as u32,
+                        &mut |hk_buf| {
+                            // Send TM down as JSON.
+                            let switch_map_snapshot = self
+                                .shared_switch_map
+                                .lock()
+                                .expect("failed to lock switch map")
+                                .clone();
+                            let switch_map_json = serde_json::to_string(&switch_map_snapshot)
+                                .expect("failed to serialize switch map");
+                            if switch_map_json.len() > hk_buf.len() {
+                                log::error!("switch map JSON too large for HK buffer");
+                                return Err(ByteConversionError::ToSliceTooSmall {
+                                    found: hk_buf.len(),
+                                    expected: switch_map_json.len(),
+                                });
+                            }
+                            Ok(switch_map_json.len())
+                        },
+                        &mut self.tm_buf,
+                    ) {
+                        self.tm_sender
+                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .expect("failed to send HK TM");
+                        self.hk_reply_tx
+                            .send(GenericMessage::new(
+                                *requestor_info,
+                                HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                            ))
+                            .expect("failed to send HK reply");
+                    }
+                }
+            }
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_periodic_commands(&self) {
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+        if let Err(_e) = self.com_interface.send(pcdu_req_ser.as_bytes()) {
+            log::warn!("polling PCDU switch info failed");
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_switch_requests(&mut self) {
+        loop {
+            match self.switch_request_rx.try_recv() {
+                Ok(switch_req) => match PcduSwitch::try_from(switch_req.message.switch_id()) {
+                    Ok(pcdu_switch) => {
+                        let pcdu_req = PcduRequest::SwitchDevice {
+                            switch: pcdu_switch,
+                            state: switch_req.message.target_state(),
+                        };
+                        let pcdu_req_ser = serde_json::to_string(&pcdu_req).unwrap();
+                        self.com_interface
+                            .send(pcdu_req_ser.as_bytes())
+                            .expect("failed to send switch request to PCDU");
+                    }
+                    Err(e) => todo!("failed to convert switch ID {:?} to typed PCDU switch", e),
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("switch request receiver has disconnected");
+                        break;
+                    }
+                },
+            };
+        }
+    }
+
+    pub fn poll_and_handle_replies(&mut self) {
+        if let Err(e) = self.com_interface.try_recv_replies(|reply| {
+            let sim_reply: SimReply = serde_json::from_slice(reply).expect("invalid reply format");
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).expect("invalid reply format");
+            match pcdu_reply {
+                PcduReply::SwitchInfo(switch_info) => {
+                    let switch_map_wrapper =
+                        SwitchMapWrapper::from_binary_switch_map_ref(&switch_info);
+                    let mut shared_switch_map = self
+                        .shared_switch_map
+                        .lock()
+                        .expect("failed to lock switch map");
+                    shared_switch_map.switch_map = switch_map_wrapper.0;
+                    shared_switch_map.valid = true;
+                }
+            }
+        }) {
+            log::warn!("receiving PCDU replies failed: {:?}", e);
+        }
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeProvider
+    for PcduHandler<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SerialInterface, TmSender: EcssTmSender> ModeRequestHandler
+    for PcduHandler<ComInterface, TmSender>
+{
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        if mode_and_submode.mode() == DeviceMode::Off as u32 {
+            self.shared_switch_map.lock().unwrap().valid = false;
+        }
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() == NO_SENDER {
+                return Ok(());
+            }
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_to_pus_tx
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use std::sync::mpsc;
+
+    use satrs::{
+        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
+    };
+    use satrs_example::config::components::{Apid, MGM_HANDLER_0};
+    use satrs_minisim::eps::SwitchMapBinary;
+
+    use super::*;
+
+    #[derive(Default)]
+    pub struct SerialInterfaceTest {
+        pub inner: SerialInterfaceDummy,
+        pub send_queue: RefCell<VecDeque<Vec<u8>>>,
+        pub reply_queue: RefCell<VecDeque<String>>,
+    }
+
+    impl SerialInterface for SerialInterfaceTest {
+        type Error = ();
+
+        fn send(&self, data: &[u8]) -> Result<(), Self::Error> {
+            let mut send_queue_mut = self.send_queue.borrow_mut();
+            send_queue_mut.push_back(data.to_vec());
+            self.inner.send(data)
+        }
+
+        fn try_recv_replies<ReplyHandler: FnMut(&[u8])>(
+            &self,
+            mut f: ReplyHandler,
+        ) -> Result<(), Self::Error> {
+            if self.inner.reply_queue_empty() {
+                return Ok(());
+            }
+            loop {
+                let reply = self.inner.get_next_reply_as_string();
+                self.reply_queue.borrow_mut().push_back(reply.clone());
+                f(reply.as_bytes());
+                if self.inner.reply_queue_empty() {
+                    break;
+                }
+            }
+            Ok(())
+        }
+    }
+
+    pub struct PcduTestbench {
+        pub mode_request_tx: mpsc::Sender<GenericMessage<ModeRequest>>,
+        pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
+        pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
+        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
+        pub handler: PcduHandler<SerialInterfaceTest, mpsc::Sender<PacketAsVec>>,
+    }
+
+    impl PcduTestbench {
+        pub fn new() -> Self {
+            let (mode_request_tx, mode_request_rx) = mpsc::channel();
+            let (mode_reply_tx_to_pus, mode_reply_rx_to_pus) = mpsc::channel();
+            let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
+            let mode_interface = MpscModeLeafInterface {
+                request_rx: mode_request_rx,
+                reply_to_pus_tx: mode_reply_tx_to_pus,
+                reply_to_parent_tx: mode_reply_tx_to_parent,
+            };
+            let (composite_request_tx, composite_request_rx) = mpsc::channel();
+            let (hk_reply_tx, hk_reply_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel::<PacketAsVec>();
+            let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
+            let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
+            Self {
+                mode_request_tx,
+                mode_reply_rx_to_pus,
+                mode_reply_rx_to_parent,
+                composite_request_tx,
+                hk_reply_rx,
+                tm_rx,
+                switch_request_tx,
+                handler: PcduHandler::new(
+                    UniqueApidTargetId::new(Apid::Eps as u16, 0),
+                    "TEST_PCDU",
+                    mode_interface,
+                    composite_request_rx,
+                    hk_reply_tx,
+                    switch_reqest_rx,
+                    tm_tx,
+                    SerialInterfaceTest::default(),
+                    shared_switch_map,
+                ),
+            }
+        }
+
+        pub fn verify_switch_info_req_was_sent(&self, expected_queue_len: usize) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(pcdu_req, PcduRequest::RequestSwitchInfo);
+        }
+
+        pub fn verify_switch_req_was_sent(
+            &self,
+            expected_queue_len: usize,
+            switch_id: PcduSwitch,
+            target_state: SwitchStateBinary,
+        ) {
+            // Check that there is now communication happening.
+            let mut send_queue_mut = self.handler.com_interface.send_queue.borrow_mut();
+            assert_eq!(send_queue_mut.len(), expected_queue_len);
+            let packet_sent = send_queue_mut.pop_front().unwrap();
+            drop(send_queue_mut);
+            let pcdu_req: PcduRequest = serde_json::from_slice(&packet_sent).unwrap();
+            assert_eq!(
+                pcdu_req,
+                PcduRequest::SwitchDevice {
+                    switch: switch_id,
+                    state: target_state
+                }
+            )
+        }
+
+        pub fn verify_switch_reply_received(
+            &self,
+            expected_queue_len: usize,
+            expected_map: SwitchMapBinary,
+        ) {
+            // Check that a switch reply was read back.
+            let mut reply_received_mut = self.handler.com_interface.reply_queue.borrow_mut();
+            assert_eq!(reply_received_mut.len(), expected_queue_len);
+            let reply_received = reply_received_mut.pop_front().unwrap();
+            let sim_reply: SimReply = serde_json::from_str(&reply_received).unwrap();
+            let pcdu_reply = PcduReply::from_sim_message(&sim_reply).unwrap();
+            assert_eq!(pcdu_reply, PcduReply::SwitchInfo(expected_map));
+        }
+    }
+
+    #[test]
+    fn test_basic_handler() {
+        let mut testbench = PcduTestbench::new();
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Handler is OFF, no changes expected.
+        assert_eq!(testbench.handler.com_interface.send_queue.borrow().len(), 0);
+        assert_eq!(
+            testbench.handler.com_interface.reply_queue.borrow().len(),
+            0
+        );
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Off as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0_u16);
+    }
+
+    #[test]
+    fn test_normal_mode() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(!switch_map_shared.valid);
+        drop(switch_map_shared);
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+        // Check correctness of mode.
+        assert_eq!(
+            testbench.handler.mode_and_submode().mode(),
+            DeviceMode::Normal as u32
+        );
+        assert_eq!(testbench.handler.mode_and_submode().submode(), 0);
+
+        testbench.verify_switch_info_req_was_sent(1);
+        testbench.verify_switch_reply_received(1, SwitchMapBinaryWrapper::default().0);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+
+    #[test]
+    fn test_switch_request_handling() {
+        let mut testbench = PcduTestbench::new();
+        testbench
+            .mode_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, PUS_MODE_SERVICE.id()),
+                ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as u32, 0)),
+            ))
+            .expect("failed to send mode request");
+        testbench
+            .switch_request_tx
+            .send(GenericMessage::new(
+                MessageMetadata::new(0, MGM_HANDLER_0.id()),
+                SwitchRequest::new(0, SwitchStateBinary::On),
+            ))
+            .expect("failed to send switch request");
+        testbench.handler.periodic_operation(OpCode::RegularOp);
+        testbench
+            .handler
+            .periodic_operation(OpCode::PollAndRecvReplies);
+
+        testbench.verify_switch_req_was_sent(2, PcduSwitch::Mgm, SwitchStateBinary::On);
+        testbench.verify_switch_info_req_was_sent(1);
+        let mut switch_map = SwitchMapBinaryWrapper::default().0;
+        *switch_map
+            .get_mut(&PcduSwitch::Mgm)
+            .expect("switch state setting failed") = SwitchStateBinary::On;
+        testbench.verify_switch_reply_received(1, switch_map);
+
+        let switch_map_shared = testbench.handler.shared_switch_map.lock().unwrap();
+        assert!(switch_map_shared.valid);
+        drop(switch_map_shared);
+    }
+}
--- a/satrs-example/src/events.rs
+++ b/satrs-example/src/events.rs
@ -2,19 +2,15 @@ use std::sync::mpsc::{self};

 use crate::pus::create_verification_reporter;
 use satrs::event_man::{EventMessageU32, EventRoutingError};
-use satrs::params::WritableToBeBytes;
 use satrs::pus::event::EventTmHookProvider;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::EcssTmSender;
 use satrs::request::UniqueApidTargetId;
 use satrs::{
-    event_man::{
-        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
-        MpscEventReceiver,
-    },
+    event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
    pus::{
        event_man::{
-            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
        },
        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
    },
@ -40,13 +36,13 @@ impl EventTmHookProvider for EventApidSetter {
 /// packets. It also handles the verification completion of PUS event service requests.
 pub struct PusEventHandler<TmSender: EcssTmSender> {
    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
+    pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
    pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
    tm_sender: TmSender,
    time_provider: CdsTime,
    timestamp: [u8; 7],
+    small_data_buf: [u8; 64],
    verif_handler: VerificationReporter,
-    event_apid_setter: EventApidSetter,
 }

 impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
@ -61,9 +57,16 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {

        // All events sent to the manager are routed to the PUS event manager, which generates PUS event
        // telemetry for each event.
-        let event_reporter = EventReporter::new(PUS_EVENT_MANAGEMENT.raw(), 0, 0, 128).unwrap();
+        let event_reporter = EventReporter::new_with_hook(
+            PUS_EVENT_MANAGEMENT.raw(),
+            0,
+            0,
+            128,
+            EventApidSetter::default(),
+        )
+        .unwrap();
        let pus_event_dispatcher =
-            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
            PUS_EVENT_MANAGEMENT.raw(),
            pus_event_man_tx,
@ -75,13 +78,13 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {

        Self {
            event_request_rx,
-            pus_event_dispatcher,
+            pus_event_tm_creator: pus_event_dispatcher,
            pus_event_man_rx,
            time_provider: CdsTime::new_with_u16_days(0, 0),
            timestamp: [0; 7],
+            small_data_buf: [0; 64],
            verif_handler,
            tm_sender,
-            event_apid_setter: EventApidSetter::default(),
        }
    }

@ -95,75 +98,110 @@ impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
                .completion_success(&self.tm_sender, started_token, timestamp)
                .expect("Sending completion success failed");
        };
-        // handle event requests
-        if let Ok(event_req) = self.event_request_rx.try_recv() {
-            match event_req.request {
-                EventRequest::Enable(event) => {
-                    self.pus_event_dispatcher
-                        .enable_tm_for_event(&event)
-                        .expect("Enabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
-                EventRequest::Disable(event) => {
-                    self.pus_event_dispatcher
-                        .disable_tm_for_event(&event)
-                        .expect("Disabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
+        loop {
+            // handle event requests
+            match self.event_request_rx.try_recv() {
+                Ok(event_req) => match event_req.request {
+                    EventRequest::Enable(event) => {
+                        self.pus_event_tm_creator
+                            .enable_tm_for_event(&event)
+                            .expect("Enabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                    EventRequest::Disable(event) => {
+                        self.pus_event_tm_creator
+                            .disable_tm_for_event(&event)
+                            .expect("Disabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("all event request senders have disconnected");
+                        break;
+                    }
+                },
            }
        }
    }

    pub fn generate_pus_event_tm(&mut self) {
-        // Perform the generation of PUS event packets
-        if let Ok(event_msg) = self.pus_event_man_rx.try_recv() {
-            update_time(&mut self.time_provider, &mut self.timestamp);
-            let param_vec = event_msg.params().map_or(Vec::new(), |param| {
-                param.to_vec().expect("failed to convert params to vec")
-            });
-            self.event_apid_setter.next_apid = UniqueApidTargetId::from(event_msg.sender_id()).apid;
-            self.pus_event_dispatcher
-                .generate_pus_event_tm_generic(
-                    &self.tm_sender,
-                    &self.timestamp,
-                    event_msg.event(),
-                    Some(&param_vec),
-                )
-                .expect("Sending TM as event failed");
+        loop {
+            // Perform the generation of PUS event packets
+            match self.pus_event_man_rx.try_recv() {
+                Ok(event_msg) => {
+                    // We use the TM modification hook to set the sender APID for each event.
+                    self.pus_event_tm_creator.reporter.tm_hook.next_apid =
+                        UniqueApidTargetId::from(event_msg.sender_id()).apid;
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    let generation_result = self
+                        .pus_event_tm_creator
+                        .generate_pus_event_tm_generic_with_generic_params(
+                            &self.tm_sender,
+                            &self.timestamp,
+                            event_msg.event(),
+                            &mut self.small_data_buf,
+                            event_msg.params(),
+                        )
+                        .expect("Sending TM as event failed");
+                    if !generation_result.params_were_propagated {
+                        log::warn!(
+                            "Event TM parameters were not propagated: {:?}",
+                            event_msg.params()
+                        );
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("All event senders have disconnected");
+                        break;
+                    }
+                },
+            }
        }
    }
 }

-/// This is a thin wrapper around the event manager which also caches the sender component
-/// used to send events to the event manager.
-pub struct EventManagerWrapper {
+pub struct EventHandler<TmSender: EcssTmSender> {
+    pub pus_event_handler: PusEventHandler<TmSender>,
    event_manager: EventManagerWithBoundedMpsc,
-    event_sender: mpsc::Sender<EventMessageU32>,
 }

-impl EventManagerWrapper {
-    pub fn new() -> Self {
-        // The sender handle is the primary sender handle for all components which want to create events.
-        // The event manager will receive the RX handle to receive all the events.
-        let (event_sender, event_man_rx) = mpsc::channel();
-        let event_recv = MpscEventReceiver::new(event_man_rx);
+impl<TmSender: EcssTmSender> EventHandler<TmSender> {
+    pub fn new(
+        tm_sender: TmSender,
+        event_rx: mpsc::Receiver<EventMessageU32>,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    ) -> Self {
+        let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+        let pus_event_handler = PusEventHandler::new(
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            &mut event_manager,
+            event_request_rx,
+        );
+
        Self {
-            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
-            event_sender,
+            pus_event_handler,
+            event_manager,
        }
    }

-    // Returns a cached event sender to send events to the event manager for routing.
-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
-        self.event_sender.clone()
-    }
-
+    #[allow(dead_code)]
    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
        &mut self.event_manager
    }

+    pub fn periodic_operation(&mut self) {
+        self.pus_event_handler.handle_event_requests();
+        self.try_event_routing();
+        self.pus_event_handler.generate_pus_event_tm();
+    }
+
    pub fn try_event_routing(&mut self) {
        let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
            self.routing_error_handler(event_msg, error)
@ -177,41 +215,83 @@ impl EventManagerWrapper {
    }
 }

-pub struct EventHandler<TmSender: EcssTmSender> {
-    pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler<TmSender>,
-}
+#[cfg(test)]
+mod tests {
+    use satrs::{
+        events::EventU32,
+        pus::verification::VerificationReporterCfg,
+        spacepackets::{
+            ecss::{tm::PusTmReader, PusPacket},
+            CcsdsPacket,
+        },
+        tmtc::PacketAsVec,
+    };

-impl<TmSender: EcssTmSender> EventHandler<TmSender> {
-    pub fn new(
-        tm_sender: TmSender,
-        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    ) -> Self {
-        let mut event_man_wrapper = EventManagerWrapper::new();
-        let pus_event_handler = PusEventHandler::new(
-            tm_sender,
-            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
-            event_man_wrapper.event_manager(),
-            event_request_rx,
-        );
-        Self {
-            event_man_wrapper,
-            pus_event_handler,
+    use super::*;
+
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(1, 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events::Severity::Info, 1, 1);
+
+    pub struct EventManagementTestbench {
+        pub event_tx: mpsc::SyncSender<EventMessageU32>,
+        pub event_manager: EventManagerWithBoundedMpsc,
+        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub pus_event_handler: PusEventHandler<mpsc::Sender<PacketAsVec>>,
+    }
+
+    impl EventManagementTestbench {
+        pub fn new() -> Self {
+            let (event_tx, event_rx) = mpsc::sync_channel(10);
+            let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            let verif_reporter_cfg = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
+            let verif_reporter =
+                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
+            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+            let pus_event_handler = PusEventHandler::<mpsc::Sender<PacketAsVec>>::new(
+                tm_sender,
+                verif_reporter,
+                &mut event_manager,
+                event_req_rx,
+            );
+            Self {
+                event_tx,
+                tm_receiver,
+                event_manager,
+                pus_event_handler,
+            }
        }
    }

-    pub fn clone_event_sender(&self) -> mpsc::Sender<EventMessageU32> {
-        self.event_man_wrapper.clone_event_sender()
+    #[test]
+    fn test_basic_event_generation() {
+        let mut testbench = EventManagementTestbench::new();
+        testbench
+            .event_tx
+            .send(EventMessageU32::new(
+                TEST_CREATOR_ID.id(),
+                EventU32::new(satrs::events::Severity::Info, 1, 1),
+            ))
+            .expect("failed to send event");
+        testbench.pus_event_handler.handle_event_requests();
+        testbench.event_manager.try_event_handling(|_, _| {});
+        testbench.pus_event_handler.generate_pus_event_tm();
+        let tm_packet = testbench
+            .tm_receiver
+            .try_recv()
+            .expect("failed to receive TM packet");
+        assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
+            .expect("failed to create TM reader")
+            .0;
+        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
+        assert_eq!(tm_reader.user_data().len(), 4);
+        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
+        assert_eq!(event_read_back, TEST_EVENT);
    }

-    #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
-        self.event_man_wrapper.event_manager()
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.pus_event_handler.handle_event_requests();
-        self.event_man_wrapper.try_event_routing();
-        self.pus_event_handler.generate_pus_event_tm();
+    #[test]
+    fn test_basic_event_disabled() {
+        // TODO: Add test.
    }
 }
--- a/satrs-example/src/hk.rs
+++ b/satrs-example/src/hk.rs
@ -1,7 +1,9 @@
 use derive_new::new;
 use satrs::hk::UniqueId;
 use satrs::request::UniqueApidTargetId;
-use satrs::spacepackets::ByteConversionError;
+use satrs::spacepackets::ecss::hk;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::{ByteConversionError, SpHeader};

 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
@ -33,3 +35,35 @@ impl HkUniqueId {
        Ok(8)
    }
 }
+
+#[derive(new)]
+pub struct PusHkHelper {
+    component_id: UniqueApidTargetId,
+}
+
+impl PusHkHelper {
+    pub fn generate_hk_report_packet<
+        'a,
+        'b,
+        HkWriter: FnMut(&mut [u8]) -> Result<usize, ByteConversionError>,
+    >(
+        &self,
+        timestamp: &'a [u8],
+        set_id: u32,
+        hk_data_writer: &mut HkWriter,
+        buf: &'b mut [u8],
+    ) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
+        let sec_header =
+            PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
+        buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
+        buf[4..8].copy_from_slice(&set_id.to_be_bytes());
+        let (_, second_half) = buf.split_at_mut(8);
+        let hk_data_len = hk_data_writer(second_half)?;
+        Ok(PusTmCreator::new(
+            SpHeader::new_from_apid(self.component_id.apid),
+            sec_header,
+            &buf[0..8 + hk_data_len],
+            true,
+        ))
+    }
+}
--- a/satrs-example/src/interface/mod.rs
+++ b/satrs-example/src/interface/mod.rs
@ -1,3 +1,4 @@
 //! This module contains all component related to the direct interface of the example.
+pub mod sim_client_udp;
 pub mod tcp;
 pub mod udp;
--- a/satrs-example/src/interface/sim_client_udp.rs
+++ b/satrs-example/src/interface/sim_client_udp.rs
@ -0,0 +1,420 @@
+use std::{
+    collections::HashMap,
+    net::{Ipv4Addr, SocketAddr, SocketAddrV4, UdpSocket},
+    sync::mpsc,
+    time::Duration,
+};
+
+use satrs::pus::HandlingStatus;
+use satrs_minisim::{
+    udp::SIM_CTRL_PORT, SerializableSimMsgPayload, SimComponent, SimMessageProvider, SimReply,
+    SimRequest,
+};
+use satrs_minisim::{SimCtrlReply, SimCtrlRequest};
+
+struct SimReplyMap(pub HashMap<SimComponent, mpsc::Sender<SimReply>>);
+
+pub fn create_sim_client(sim_request_rx: mpsc::Receiver<SimRequest>) -> Option<SimClientUdp> {
+    match SimClientUdp::new(
+        SocketAddr::V4(SocketAddrV4::new(Ipv4Addr::LOCALHOST, SIM_CTRL_PORT)),
+        sim_request_rx,
+    ) {
+        Ok(sim_client) => {
+            log::info!("simulator client connection success");
+            return Some(sim_client);
+        }
+        Err(e) => {
+            log::warn!("sim client creation error: {}", e);
+        }
+    }
+    None
+}
+
+#[derive(thiserror::Error, Debug)]
+pub enum SimClientCreationError {
+    #[error("io error: {0}")]
+    Io(#[from] std::io::Error),
+    #[error("timeout when trying to connect to sim UDP server")]
+    Timeout,
+    #[error("invalid ping reply when trying connection to UDP sim server")]
+    InvalidReplyJsonError(#[from] serde_json::Error),
+    #[error("invalid sim reply, not pong reply as expected: {0:?}")]
+    ReplyIsNotPong(SimReply),
+}
+
+pub struct SimClientUdp {
+    udp_client: UdpSocket,
+    simulator_addr: SocketAddr,
+    sim_request_rx: mpsc::Receiver<SimRequest>,
+    reply_map: SimReplyMap,
+    reply_buf: [u8; 4096],
+}
+
+impl SimClientUdp {
+    pub fn new(
+        simulator_addr: SocketAddr,
+        sim_request_rx: mpsc::Receiver<SimRequest>,
+    ) -> Result<Self, SimClientCreationError> {
+        let mut reply_buf: [u8; 4096] = [0; 4096];
+        let mut udp_client = UdpSocket::bind("127.0.0.1:0")?;
+        udp_client.set_read_timeout(Some(Duration::from_millis(100)))?;
+        Self::attempt_connection(&mut udp_client, simulator_addr, &mut reply_buf)?;
+        udp_client.set_nonblocking(true)?;
+        Ok(Self {
+            udp_client,
+            simulator_addr,
+            sim_request_rx,
+            reply_map: SimReplyMap(HashMap::new()),
+            reply_buf,
+        })
+    }
+
+    pub fn attempt_connection(
+        udp_client: &mut UdpSocket,
+        simulator_addr: SocketAddr,
+        reply_buf: &mut [u8],
+    ) -> Result<(), SimClientCreationError> {
+        let sim_req = SimRequest::new_with_epoch_time(SimCtrlRequest::Ping);
+        let sim_req_json = serde_json::to_string(&sim_req).expect("failed to serialize SimRequest");
+        udp_client.send_to(sim_req_json.as_bytes(), simulator_addr)?;
+        match udp_client.recv(reply_buf) {
+            Ok(reply_len) => {
+                let sim_reply: SimReply = serde_json::from_slice(&reply_buf[0..reply_len])?;
+                if sim_reply.component() != SimComponent::SimCtrl {
+                    return Err(SimClientCreationError::ReplyIsNotPong(sim_reply));
+                }
+                let sim_ctrl_reply =
+                    SimCtrlReply::from_sim_message(&sim_reply).expect("invalid SIM reply");
+                match sim_ctrl_reply {
+                    SimCtrlReply::InvalidRequest(_) => {
+                        panic!("received invalid request reply from UDP sim server")
+                    }
+                    SimCtrlReply::Pong => Ok(()),
+                }
+            }
+            Err(e) => {
+                if e.kind() == std::io::ErrorKind::TimedOut
+                    || e.kind() == std::io::ErrorKind::WouldBlock
+                {
+                    Err(SimClientCreationError::Timeout)
+                } else {
+                    Err(SimClientCreationError::Io(e))
+                }
+            }
+        }
+    }
+
+    pub fn operation(&mut self) -> HandlingStatus {
+        let mut no_sim_requests_handled = true;
+        let mut no_data_from_udp_server_received = true;
+        loop {
+            match self.sim_request_rx.try_recv() {
+                Ok(request) => {
+                    let request_json =
+                        serde_json::to_string(&request).expect("failed to serialize SimRequest");
+                    if let Err(e) = self
+                        .udp_client
+                        .send_to(request_json.as_bytes(), self.simulator_addr)
+                    {
+                        log::error!("error sending data to UDP SIM server: {}", e);
+                        break;
+                    } else {
+                        no_sim_requests_handled = false;
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => {
+                        break;
+                    }
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("SIM request sender disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+        loop {
+            match self.udp_client.recv(&mut self.reply_buf) {
+                Ok(recvd_bytes) => {
+                    no_data_from_udp_server_received = false;
+                    let sim_reply_result: serde_json::Result<SimReply> =
+                        serde_json::from_slice(&self.reply_buf[0..recvd_bytes]);
+                    match sim_reply_result {
+                        Ok(sim_reply) => {
+                            if let Some(sender) = self.reply_map.0.get(&sim_reply.component()) {
+                                sender.send(sim_reply).expect("failed to send SIM reply");
+                            } else {
+                                log::warn!(
+                                    "no recipient for SIM reply from component {:?}",
+                                    sim_reply.component()
+                                );
+                            }
+                        }
+                        Err(e) => {
+                            log::warn!("failed to deserialize SIM reply: {}", e);
+                        }
+                    }
+                }
+                Err(e) => {
+                    if e.kind() == std::io::ErrorKind::WouldBlock
+                        || e.kind() == std::io::ErrorKind::TimedOut
+                    {
+                        break;
+                    }
+                    log::error!("error receiving data from UDP SIM server: {}", e);
+                    break;
+                }
+            }
+        }
+        if no_sim_requests_handled && no_data_from_udp_server_received {
+            return HandlingStatus::Empty;
+        }
+        HandlingStatus::HandledOne
+    }
+
+    pub fn add_reply_recipient(
+        &mut self,
+        component: SimComponent,
+        reply_sender: mpsc::Sender<SimReply>,
+    ) {
+        self.reply_map.0.insert(component, reply_sender);
+    }
+}
+
+#[cfg(test)]
+pub mod tests {
+    use std::{
+        collections::HashMap,
+        net::{SocketAddr, UdpSocket},
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            mpsc, Arc,
+        },
+        time::Duration,
+    };
+
+    use satrs_minisim::{
+        eps::{PcduReply, PcduRequest},
+        SerializableSimMsgPayload, SimComponent, SimCtrlReply, SimCtrlRequest, SimMessageProvider,
+        SimReply, SimRequest,
+    };
+
+    use super::SimClientUdp;
+
+    struct UdpSimTestServer {
+        udp_server: UdpSocket,
+        request_tx: mpsc::Sender<SimRequest>,
+        reply_rx: mpsc::Receiver<SimReply>,
+        last_sender: Option<SocketAddr>,
+        stop_signal: Arc<AtomicBool>,
+        recv_buf: [u8; 1024],
+    }
+
+    impl UdpSimTestServer {
+        pub fn new(
+            request_tx: mpsc::Sender<SimRequest>,
+            reply_rx: mpsc::Receiver<SimReply>,
+            stop_signal: Arc<AtomicBool>,
+        ) -> Self {
+            let udp_server = UdpSocket::bind("127.0.0.1:0").expect("creating UDP server failed");
+            udp_server
+                .set_nonblocking(true)
+                .expect("failed to set UDP server to non-blocking");
+            Self {
+                udp_server,
+                request_tx,
+                reply_rx,
+                last_sender: None,
+                stop_signal,
+                recv_buf: [0; 1024],
+            }
+        }
+
+        pub fn operation(&mut self) {
+            loop {
+                let mut no_sim_replies_handled = true;
+                let mut no_data_received = true;
+                if self.stop_signal.load(Ordering::Relaxed) {
+                    break;
+                }
+                if let Some(last_sender) = self.last_sender {
+                    loop {
+                        match self.reply_rx.try_recv() {
+                            Ok(sim_reply) => {
+                                let sim_reply_json = serde_json::to_string(&sim_reply)
+                                    .expect("failed to serialize SimReply");
+                                self.udp_server
+                                    .send_to(sim_reply_json.as_bytes(), last_sender)
+                                    .expect("failed to send reply to client from UDP server");
+                                no_sim_replies_handled = false;
+                            }
+                            Err(e) => match e {
+                                mpsc::TryRecvError::Empty => break,
+                                mpsc::TryRecvError::Disconnected => {
+                                    panic!("reply sender disconnected")
+                                }
+                            },
+                        }
+                    }
+                }
+
+                loop {
+                    match self.udp_server.recv_from(&mut self.recv_buf) {
+                        Ok((read_bytes, from)) => {
+                            let sim_request: SimRequest =
+                                serde_json::from_slice(&self.recv_buf[0..read_bytes])
+                                    .expect("failed to deserialize SimRequest");
+                            if sim_request.component() == SimComponent::SimCtrl {
+                                // For a ping, we perform the reply handling here directly
+                                let sim_ctrl_request =
+                                    SimCtrlRequest::from_sim_message(&sim_request)
+                                        .expect("failed to convert SimRequest to SimCtrlRequest");
+                                match sim_ctrl_request {
+                                    SimCtrlRequest::Ping => {
+                                        no_data_received = false;
+                                        self.last_sender = Some(from);
+                                        let sim_reply = SimReply::new(&SimCtrlReply::Pong);
+                                        let sim_reply_json = serde_json::to_string(&sim_reply)
+                                            .expect("failed to serialize SimReply");
+                                        self.udp_server
+                                            .send_to(sim_reply_json.as_bytes(), from)
+                                            .expect(
+                                                "failed to send reply to client from UDP server",
+                                            );
+                                    }
+                                };
+                            }
+                            // Forward each SIM request for testing purposes.
+                            self.request_tx
+                                .send(sim_request)
+                                .expect("failed to send request");
+                        }
+                        Err(e) => {
+                            if e.kind() != std::io::ErrorKind::WouldBlock
+                                && e.kind() != std::io::ErrorKind::TimedOut
+                            {
+                                panic!("UDP server error: {}", e);
+                            }
+                            break;
+                        }
+                    }
+                }
+                if no_sim_replies_handled && no_data_received {
+                    std::thread::sleep(Duration::from_millis(5));
+                }
+            }
+        }
+
+        pub fn local_addr(&self) -> SocketAddr {
+            self.udp_server.local_addr().unwrap()
+        }
+    }
+
+    #[test]
+    fn basic_connection_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (_server_sim_reply_tx, server_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            server_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (_client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+        // Creating the client also performs the connection test.
+        SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+
+    #[test]
+    fn basic_request_reply_test() {
+        let (server_sim_request_tx, server_sim_request_rx) = mpsc::channel();
+        let (server_sim_reply_tx, sever_sim_reply_rx) = mpsc::channel();
+        let stop_signal = Arc::new(AtomicBool::new(false));
+        let mut udp_server = UdpSimTestServer::new(
+            server_sim_request_tx,
+            sever_sim_reply_rx,
+            stop_signal.clone(),
+        );
+        let server_addr = udp_server.local_addr();
+        let (client_sim_req_tx, client_sim_req_rx) = mpsc::channel();
+        let (client_pcdu_reply_tx, client_pcdu_reply_rx) = mpsc::channel();
+        // Need to spawn the simulator UDP server before calling the client constructor.
+        let jh0 = std::thread::spawn(move || {
+            udp_server.operation();
+        });
+
+        // Creating the client also performs the connection test.
+        let mut client = SimClientUdp::new(server_addr, client_sim_req_rx).unwrap();
+        client.add_reply_recipient(SimComponent::Pcdu, client_pcdu_reply_tx);
+
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let ping_request = SimCtrlRequest::from_sim_message(&sim_request)
+            .expect("failed to create SimCtrlRequest");
+        assert_eq!(ping_request, SimCtrlRequest::Ping);
+
+        let pcdu_req = PcduRequest::RequestSwitchInfo;
+        client_sim_req_tx
+            .send(SimRequest::new_with_epoch_time(pcdu_req))
+            .expect("send failed");
+        client.operation();
+
+        // Check that the request arrives properly at the server.
+        let sim_request = server_sim_request_rx
+            .recv_timeout(Duration::from_millis(50))
+            .expect("no SIM request received");
+        let req_recvd_on_server =
+            PcduRequest::from_sim_message(&sim_request).expect("failed to create SimCtrlRequest");
+        matches!(req_recvd_on_server, PcduRequest::RequestSwitchInfo);
+
+        // We inject the reply ourselves.
+        let pcdu_reply = PcduReply::SwitchInfo(HashMap::new());
+        server_sim_reply_tx
+            .send(SimReply::new(&pcdu_reply))
+            .expect("sending PCDU reply failed");
+
+        // Now we verify that the reply is sent by the UDP server back to the client, and then
+        // forwarded by the clients internal map.
+        let mut pcdu_reply_received = false;
+        for _ in 0..3 {
+            client.operation();
+
+            match client_pcdu_reply_rx.try_recv() {
+                Ok(sim_reply) => {
+                    assert_eq!(sim_reply.component(), SimComponent::Pcdu);
+                    let pcdu_reply_from_client = PcduReply::from_sim_message(&sim_reply)
+                        .expect("failed to create PcduReply");
+                    assert_eq!(pcdu_reply_from_client, pcdu_reply);
+                    pcdu_reply_received = true;
+                    break;
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => std::thread::sleep(Duration::from_millis(10)),
+                    mpsc::TryRecvError::Disconnected => panic!("reply sender disconnected"),
+                },
+            }
+        }
+        if !pcdu_reply_received {
+            panic!("no reply received");
+        }
+
+        // Stop the server.
+        stop_signal.store(true, Ordering::Relaxed);
+        jh0.join().unwrap();
+    }
+}
--- a/satrs-example/src/interface/tcp.rs
+++ b/satrs-example/src/interface/tcp.rs
@ -1,3 +1,4 @@
+use std::time::Duration;
 use std::{
    collections::{HashSet, VecDeque},
    fmt::Debug,
@ -139,7 +140,9 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>

    pub fn periodic_operation(&mut self) {
        loop {
-            let result = self.0.handle_all_connections(None);
+            let result = self
+                .0
+                .handle_all_connections(Some(Duration::from_millis(400)));
            match result {
                Ok(_conn_result) => (),
                Err(e) => {
--- a/satrs-example/src/interface/udp.rs
+++ b/satrs-example/src/interface/udp.rs
@ -3,14 +3,13 @@ use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;

 use log::{info, warn};
+use satrs::pus::HandlingStatus;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
 use satrs::{
    hal::std::udp_server::{ReceiveResult, UdpTcServer},
    pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };

-use crate::pus::HandlingStatus;
-
 pub trait UdpTmHandler {
    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
@ -114,6 +113,7 @@ impl<

 #[cfg(test)]
 mod tests {
+    use std::net::Ipv4Addr;
    use std::{
        cell::RefCell,
        collections::VecDeque,
@ -182,7 +182,7 @@ mod tests {

    #[test]
    fn test_transactions() {
-        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
        let test_receiver = TestSender::default();
        // let tc_queue = test_receiver.tc_vec.clone();
        let udp_tc_server =
@ -200,8 +200,8 @@ mod tests {
            .unwrap();
        let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
        let client_addr = client.local_addr().unwrap();
-        client.connect(server_addr).unwrap();
-        client.send(&ping_tc).unwrap();
+        println!("{}", server_addr);
+        client.send_to(&ping_tc, server_addr).unwrap();
        udp_dyn_server.periodic_operation();
        {
            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
--- a/satrs-example/src/lib.rs
+++ b/satrs-example/src/lib.rs
@ -9,12 +9,12 @@ pub enum DeviceMode {
    Normal = 2,
 }

-pub struct TimeStampHelper {
+pub struct TimestampHelper {
    stamper: CdsTime,
    time_stamp: [u8; 7],
 }

-impl TimeStampHelper {
+impl TimestampHelper {
    pub fn stamp(&self) -> &[u8] {
        &self.time_stamp
    }
@ -29,7 +29,7 @@ impl TimeStampHelper {
    }
 }

-impl Default for TimeStampHelper {
+impl Default for TimestampHelper {
    fn default() -> Self {
        Self {
            stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@ -1,4 +1,5 @@
 mod acs;
+mod eps;
 mod events;
 mod hk;
 mod interface;
@ -7,24 +8,34 @@ mod pus;
 mod requests;
 mod tmtc;

+use crate::eps::pcdu::{
+    PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper,
+};
+use crate::eps::PowerSwitchHelper;
 use crate::events::EventHandler;
 use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
 use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
-use crate::tmtc::tm_sink::{TmFunnelDynamic, TmFunnelStatic};
+use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
 use log::info;
 use pus::test::create_test_service_dynamic;
 use satrs::hal::std::tcp_server::ServerConfig;
 use satrs::hal::std::udp_server::UdpTcServer;
-use satrs::request::GenericMessage;
+use satrs::pus::HandlingStatus;
+use satrs::request::{GenericMessage, MessageMetadata};
 use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
-    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
+    FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS,
 };
 use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
+use satrs_example::DeviceMode;

-use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
+use crate::acs::mgm::{
+    MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface, SpiSimInterface,
+    SpiSimInterfaceWrapper,
+};
+use crate::interface::sim_client_udp::create_sim_client;
 use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
 use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use crate::logger::setup_logger;
@ -36,12 +47,14 @@ use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_s
 use crate::pus::test::create_test_service_static;
 use crate::pus::{PusTcDistributor, PusTcMpscRouter};
 use crate::requests::{CompositeRequest, GenericRequestRouter};
-use satrs::mode::ModeRequest;
+use satrs::mode::{Mode, ModeAndSubmode, ModeRequest};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
+use satrs_example::config::components::{
+    MGM_HANDLER_0, NO_SENDER, PCDU_HANDLER, TCP_SERVER, UDP_SERVER,
+};
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc;
+use std::sync::{mpsc, Mutex};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
@ -54,15 +67,26 @@ fn static_tmtc_pool_main() {
    let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
    let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
-    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);

-    let tm_funnel_tx_sender =
-        PacketSenderWithSharedPool::new(tm_funnel_tx.clone(), shared_tm_pool_wrapper.clone());
+    let tm_sink_tx_sender =
+        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
+
+    let (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
+    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
+    let mut opt_sim_client = create_sim_client(sim_request_rx);

    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::channel::<GenericMessage<CompositeRequest>>();
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(30);
+
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);

    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
    let mut request_map = GenericRequestRouter::default();
@ -72,6 +96,12 @@ fn static_tmtc_pool_main() {
    request_map
        .mode_router_map
        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+    request_map
+        .composite_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());

    // This helper structure is used by all telecommand providers which need to send telecommands
    // to the TC source.
@ -80,11 +110,12 @@ fn static_tmtc_pool_main() {
    // Create event handling components
    // These sender handles are used to send event requests, for example to enable or disable
    // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();

    // The event task is the core handler to perform the event routing and TM handling as specified
    // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);

    let (pus_test_tx, pus_test_rx) = mpsc::channel();
    let (pus_event_tx, pus_event_rx) = mpsc::channel();
@ -106,39 +137,39 @@ fn static_tmtc_pool_main() {
        mode_tc_sender: pus_mode_tx,
    };
    let pus_test_service = create_test_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        shared_tc_pool.clone(),
-        event_handler.clone_event_sender(),
+        event_tx.clone(),
        pus_test_rx,
    );
    let pus_scheduler_service = create_scheduler_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        tc_source.clone(),
        pus_sched_rx,
        create_sched_tc_pool(),
    );
    let pus_event_service = create_event_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        shared_tc_pool.clone(),
        pus_event_rx,
        event_request_tx,
    );
    let pus_action_service = create_action_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        shared_tc_pool.clone(),
        pus_action_rx,
        request_map.clone(),
        pus_action_reply_rx,
    );
    let pus_hk_service = create_hk_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        shared_tc_pool.clone(),
        pus_hk_rx,
        request_map.clone(),
        pus_hk_reply_rx,
    );
    let pus_mode_service = create_mode_service_static(
-        tm_funnel_tx_sender.clone(),
+        tm_sink_tx_sender.clone(),
        shared_tc_pool.clone(),
        pus_mode_rx,
        request_map,
@ -156,7 +187,7 @@ fn static_tmtc_pool_main() {
    let mut tmtc_task = TcSourceTaskStatic::new(
        shared_tc_pool_wrapper.clone(),
        tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx_sender, pus_router),
+        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
    );

    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -186,34 +217,84 @@ fn static_tmtc_pool_main() {
    )
    .expect("tcp server creation failed");

-    let mut tm_funnel = TmFunnelStatic::new(
+    let mut tm_sink = TmSinkStatic::new(
        shared_tm_pool_wrapper,
        sync_tm_tcp_source,
-        tm_funnel_rx,
+        tm_sink_rx,
        tm_server_tx,
    );

    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::channel();
+        mpsc::sync_channel(5);
+
+    let shared_switch_set = Arc::new(Mutex::default());
+    let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
+    let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());

-    let dummy_spi_interface = SpiDummyInterface::default();
    let shared_mgm_set = Arc::default();
-    let mode_leaf_interface = MpscModeLeafInterface {
+    let mgm_mode_leaf_interface = MpscModeLeafInterface {
        request_rx: mgm_handler_mode_rx,
-        reply_tx_to_pus: pus_mode_reply_tx,
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
+        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
+    };
+
+    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
+        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+            sim_request_tx: sim_request_tx.clone(),
+            sim_reply_rx: mgm_sim_reply_rx,
+        })
+    } else {
+        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
    };
    let mut mgm_handler = MgmHandlerLis3Mdl::new(
        MGM_HANDLER_0,
        "MGM_0",
-        mode_leaf_interface,
+        mgm_mode_leaf_interface,
        mgm_handler_composite_rx,
-        pus_hk_reply_tx,
-        tm_funnel_tx,
-        dummy_spi_interface,
+        pus_hk_reply_tx.clone(),
+        switch_helper.clone(),
+        tm_sink_tx.clone(),
+        mgm_spi_interface,
        shared_mgm_set,
    );

+    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
+        mpsc::sync_channel(10);
+    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: pcdu_handler_mode_rx,
+        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
+    };
+    let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
+        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
+            sim_request_tx.clone(),
+            pcdu_sim_reply_rx,
+        ))
+    } else {
+        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
+    };
+
+    let mut pcdu_handler = PcduHandler::new(
+        PCDU_HANDLER,
+        "PCDU",
+        pcdu_mode_leaf_interface,
+        pcdu_handler_composite_rx,
+        pus_hk_reply_tx,
+        switch_request_rx,
+        tm_sink_tx,
+        pcdu_serial_interface,
+        shared_switch_set,
+    );
+    // The PCDU is a critical component which should be in normal mode immediately.
+    pcdu_handler_mode_tx
+        .send(GenericMessage::new(
+            MessageMetadata::new(0, NO_SENDER),
+            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+        ))
+        .expect("sending initial mode request failed");
+
    info!("Starting TMTC and UDP task");
    let jh_udp_tmtc = thread::Builder::new()
        .name("SATRS tmtc-udp".to_string())
@ -240,20 +321,26 @@ fn static_tmtc_pool_main() {

    info!("Starting TM funnel task");
    let jh_tm_funnel = thread::Builder::new()
-        .name("TM Funnel".to_string())
+        .name("tm sink".to_string())
        .spawn(move || loop {
-            tm_funnel.operation();
+            tm_sink.operation();
        })
        .unwrap();

-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
-        .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
-        })
-        .unwrap();
+    let mut opt_jh_sim_client = None;
+    if let Some(mut sim_client) = opt_sim_client {
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
+                .spawn(move || loop {
+                    if sim_client.operation() == HandlingStatus::Empty {
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
+                    }
+                })
+                .unwrap(),
+        );
+    }

    info!("Starting AOCS thread");
    let jh_aocs = thread::Builder::new()
@ -264,10 +351,26 @@ fn static_tmtc_pool_main() {
        })
        .unwrap();

+    info!("Starting EPS thread");
+    let jh_eps = thread::Builder::new()
+        .name("sat-rs eps".to_string())
+        .spawn(move || loop {
+            // TODO: We should introduce something like a fixed timeslot helper to allow a more
+            // declarative API. It would also be very useful for the AOCS task.
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(300));
+        })
+        .unwrap();
+
    info!("Starting PUS handler thread");
    let jh_pus_handler = thread::Builder::new()
        .name("sat-rs pus".to_string())
        .spawn(move || loop {
+            event_handler.periodic_operation();
            pus_stack.periodic_operation();
            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
        })
@ -282,10 +385,13 @@ fn static_tmtc_pool_main() {
    jh_tm_funnel
        .join()
        .expect("Joining TM Funnel thread failed");
-    jh_event_handling
-        .join()
-        .expect("Joining Event Manager thread failed");
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
+            .join()
+            .expect("Joining SIM client thread failed");
+    }
    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_eps.join().expect("Joining EPS thread failed");
    jh_pus_handler
        .join()
        .expect("Joining PUS handler thread failed");
@ -294,30 +400,47 @@ fn static_tmtc_pool_main() {
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
    let (tc_source_tx, tc_source_rx) = mpsc::channel();
-    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+    let (tm_sink_tx, tm_sink_rx) = mpsc::channel();
    let (tm_server_tx, tm_server_rx) = mpsc::channel();

+    let (sim_request_tx, sim_request_rx) = mpsc::channel();
+    let (mgm_sim_reply_tx, mgm_sim_reply_rx) = mpsc::channel();
+    let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
+    let mut opt_sim_client = create_sim_client(sim_request_rx);
+
    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        mpsc::channel::<GenericMessage<CompositeRequest>>();
-    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(5);
+    let (pcdu_handler_composite_tx, pcdu_handler_composite_rx) =
+        mpsc::sync_channel::<GenericMessage<CompositeRequest>>(10);
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(5);
+    let (pcdu_handler_mode_tx, pcdu_handler_mode_rx) =
+        mpsc::sync_channel::<GenericMessage<ModeRequest>>(10);

    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
    let mut request_map = GenericRequestRouter::default();
    request_map
        .composite_router_map
-        .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
+        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
    request_map
        .mode_router_map
-        .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
+        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
+    request_map
+        .composite_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(PCDU_HANDLER.id(), pcdu_handler_mode_tx.clone());

    // Create event handling components
    // These sender handles are used to send event requests, for example to enable or disable
    // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
    // The event task is the core handler to perform the event routing and TM handling as specified
    // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);

    let (pus_test_tx, pus_test_rx) = mpsc::channel();
    let (pus_event_tx, pus_event_rx) = mpsc::channel();
@ -339,34 +462,31 @@ fn dyn_tmtc_pool_main() {
        mode_tc_sender: pus_mode_tx,
    };

-    let pus_test_service = create_test_service_dynamic(
-        tm_funnel_tx.clone(),
-        event_handler.clone_event_sender(),
-        pus_test_rx,
-    );
+    let pus_test_service =
+        create_test_service_dynamic(tm_sink_tx.clone(), event_tx.clone(), pus_test_rx);
    let pus_scheduler_service = create_scheduler_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
        tc_source_tx.clone(),
        pus_sched_rx,
        create_sched_tc_pool(),
    );

    let pus_event_service =
-        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
+        create_event_service_dynamic(tm_sink_tx.clone(), pus_event_rx, event_request_tx);
    let pus_action_service = create_action_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
        pus_action_rx,
        request_map.clone(),
        pus_action_reply_rx,
    );
    let pus_hk_service = create_hk_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
        pus_hk_rx,
        request_map.clone(),
        pus_hk_reply_rx,
    );
    let pus_mode_service = create_mode_service_dynamic(
-        tm_funnel_tx.clone(),
+        tm_sink_tx.clone(),
        pus_mode_rx,
        request_map,
        pus_mode_reply_rx,
@ -382,7 +502,7 @@ fn dyn_tmtc_pool_main() {

    let mut tmtc_task = TcSourceTaskDynamic::new(
        tc_source_rx,
-        PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
+        PusTcDistributor::new(tm_sink_tx.clone(), pus_router),
    );

    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@ -411,28 +531,77 @@ fn dyn_tmtc_pool_main() {
    )
    .expect("tcp server creation failed");

-    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+    let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
+
+    let shared_switch_set = Arc::new(Mutex::default());
+    let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
+    let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());

    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
-        mpsc::channel();
-    let dummy_spi_interface = SpiDummyInterface::default();
+        mpsc::sync_channel(5);
    let shared_mgm_set = Arc::default();
    let mode_leaf_interface = MpscModeLeafInterface {
        request_rx: mgm_handler_mode_rx,
-        reply_tx_to_pus: pus_mode_reply_tx,
-        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+        reply_to_pus_tx: pus_mode_reply_tx.clone(),
+        reply_to_parent_tx: mgm_handler_mode_reply_to_parent_tx,
+    };
+
+    let mgm_spi_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::MgmLis3Mdl, mgm_sim_reply_tx);
+        SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+            sim_request_tx: sim_request_tx.clone(),
+            sim_reply_rx: mgm_sim_reply_rx,
+        })
+    } else {
+        SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default())
    };
    let mut mgm_handler = MgmHandlerLis3Mdl::new(
        MGM_HANDLER_0,
        "MGM_0",
        mode_leaf_interface,
        mgm_handler_composite_rx,
-        pus_hk_reply_tx,
-        tm_funnel_tx,
-        dummy_spi_interface,
+        pus_hk_reply_tx.clone(),
+        switch_helper.clone(),
+        tm_sink_tx.clone(),
+        mgm_spi_interface,
        shared_mgm_set,
    );

+    let (pcdu_handler_mode_reply_to_parent_tx, _pcdu_handler_mode_reply_to_parent_rx) =
+        mpsc::sync_channel(10);
+    let pcdu_mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: pcdu_handler_mode_rx,
+        reply_to_pus_tx: pus_mode_reply_tx,
+        reply_to_parent_tx: pcdu_handler_mode_reply_to_parent_tx,
+    };
+    let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
+        sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
+        SerialSimInterfaceWrapper::Sim(SerialInterfaceToSim::new(
+            sim_request_tx.clone(),
+            pcdu_sim_reply_rx,
+        ))
+    } else {
+        SerialSimInterfaceWrapper::Dummy(SerialInterfaceDummy::default())
+    };
+    let mut pcdu_handler = PcduHandler::new(
+        PCDU_HANDLER,
+        "PCDU",
+        pcdu_mode_leaf_interface,
+        pcdu_handler_composite_rx,
+        pus_hk_reply_tx,
+        switch_request_rx,
+        tm_sink_tx,
+        pcdu_serial_interface,
+        shared_switch_set,
+    );
+    // The PCDU is a critical component which should be in normal mode immediately.
+    pcdu_handler_mode_tx
+        .send(GenericMessage::new(
+            MessageMetadata::new(0, NO_SENDER),
+            ModeRequest::SetMode(ModeAndSubmode::new(DeviceMode::Normal as Mode, 0)),
+        ))
+        .expect("sending initial mode request failed");
+
    info!("Starting TMTC and UDP task");
    let jh_udp_tmtc = thread::Builder::new()
        .name("sat-rs tmtc-udp".to_string())
@ -459,20 +628,26 @@ fn dyn_tmtc_pool_main() {

    info!("Starting TM funnel task");
    let jh_tm_funnel = thread::Builder::new()
-        .name("sat-rs tm-funnel".to_string())
+        .name("sat-rs tm-sink".to_string())
        .spawn(move || loop {
            tm_funnel.operation();
        })
        .unwrap();

-    info!("Starting event handling task");
-    let jh_event_handling = thread::Builder::new()
-        .name("sat-rs events".to_string())
-        .spawn(move || loop {
-            event_handler.periodic_operation();
-            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
-        })
-        .unwrap();
+    let mut opt_jh_sim_client = None;
+    if let Some(mut sim_client) = opt_sim_client {
+        info!("Starting UDP sim client task");
+        opt_jh_sim_client = Some(
+            thread::Builder::new()
+                .name("sat-rs sim adapter".to_string())
+                .spawn(move || loop {
+                    if sim_client.operation() == HandlingStatus::Empty {
+                        std::thread::sleep(Duration::from_millis(SIM_CLIENT_IDLE_DELAY_MS));
+                    }
+                })
+                .unwrap(),
+        );
+    }

    info!("Starting AOCS thread");
    let jh_aocs = thread::Builder::new()
@ -483,11 +658,27 @@ fn dyn_tmtc_pool_main() {
        })
        .unwrap();

+    info!("Starting EPS thread");
+    let jh_eps = thread::Builder::new()
+        .name("sat-rs eps".to_string())
+        .spawn(move || loop {
+            // TODO: We should introduce something like a fixed timeslot helper to allow a more
+            // declarative API. It would also be very useful for the AOCS task.
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::RegularOp);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(50));
+            pcdu_handler.periodic_operation(eps::pcdu::OpCode::PollAndRecvReplies);
+            thread::sleep(Duration::from_millis(300));
+        })
+        .unwrap();
+
    info!("Starting PUS handler thread");
    let jh_pus_handler = thread::Builder::new()
        .name("sat-rs pus".to_string())
        .spawn(move || loop {
            pus_stack.periodic_operation();
+            event_handler.periodic_operation();
            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
        })
        .unwrap();
@ -501,10 +692,13 @@ fn dyn_tmtc_pool_main() {
    jh_tm_funnel
        .join()
        .expect("Joining TM Funnel thread failed");
-    jh_event_handling
-        .join()
-        .expect("Joining Event Manager thread failed");
+    if let Some(jh_sim_client) = opt_jh_sim_client {
+        jh_sim_client
+            .join()
+            .expect("Joining SIM client thread failed");
+    }
    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_eps.join().expect("Joining EPS thread failed");
    jh_pus_handler
        .join()
        .expect("Joining PUS handler thread failed");
--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@ -1,23 +1,23 @@
-use log::{error, warn};
+use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
-use satrs::params::WritableToBeBytes;
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
    ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
 use satrs::pus::verification::{
-    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
+    handle_completion_failure_with_generic_params, handle_step_failure_with_generic_params,
+    FailParamHelper, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
    PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_ACTION_SERVICE;
 use satrs_example::config::tmtc_err;
@ -61,7 +61,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
        active_request: &ActivePusActionRequestStd,
        tm_sender: &(impl EcssTmSender + ?Sized),
        verification_handler: &impl VerificationReportingProvider,
-        time_stamp: &[u8],
+        timestamp: &[u8],
    ) -> Result<bool, Self::Error> {
        let verif_token: VerificationToken<TcStateStarted> = active_request
            .token()
@ -69,15 +69,23 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
            .expect("invalid token state");
        let remove_entry = match &reply.message.variant {
            ActionReplyVariant::CompletionFailed { error_code, params } => {
-                let mut fail_data_len = 0;
-                if let Some(params) = params {
-                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
-                }
-                verification_handler.completion_failure(
+                let error_propagated = handle_completion_failure_with_generic_params(
                    tm_sender,
                    verif_token,
-                    FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
+                    verification_handler,
+                    FailParamHelper {
+                        error_code,
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
                )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
                true
            }
            ActionReplyVariant::StepFailed {
@ -85,31 +93,35 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyH
                step,
                params,
            } => {
-                let mut fail_data_len = 0;
-                if let Some(params) = params {
-                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
-                }
-                verification_handler.step_failure(
+                let error_propagated = handle_step_failure_with_generic_params(
                    tm_sender,
                    verif_token,
-                    FailParamsWithStep::new(
-                        time_stamp,
-                        &EcssEnumU16::new(*step),
+                    verification_handler,
+                    FailParamHelper {
                        error_code,
-                        &self.fail_data_buf[..fail_data_len],
-                    ),
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
+                    &EcssEnumU16::new(*step),
                )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
                true
            }
            ActionReplyVariant::Completed => {
-                verification_handler.completion_success(tm_sender, verif_token, time_stamp)?;
+                verification_handler.completion_success(tm_sender, verif_token, timestamp)?;
                true
            }
            ActionReplyVariant::StepSuccess { step } => {
                verification_handler.step_success(
                    tm_sender,
                    &verif_token,
-                    time_stamp,
+                    timestamp,
                    EcssEnumU16::new(*step),
                )?;
                false
@ -266,43 +278,23 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
    for ActionServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 8 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 8 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 8 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = PusServiceId::Action as u8;
+    const SERVICE_STR: &'static str = "action";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
        }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 8: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
    }
 }

@ -349,7 +341,7 @@ mod tests {
            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
            let (pus_action_tx, pus_action_rx) = mpsc::channel();
            let (action_reply_tx, action_reply_rx) = mpsc::channel();
-            let (action_req_tx, action_req_rx) = mpsc::channel();
+            let (action_req_tx, action_req_rx) = mpsc::sync_channel(10);
            let verif_reporter = TestVerificationReporter::new(owner_id);
            let mut generic_req_router = GenericRequestRouter::default();
            generic_req_router
@ -417,7 +409,7 @@ mod tests {
            }
            let result = result.unwrap();
            match result {
-                PusPacketHandlerResult::RequestHandled => (),
+                HandlingStatus::HandledOne => (),
                _ => panic!("unexpected result {result:?}"),
            }
        }
@ -429,19 +421,19 @@ mod tests {
            }
            let result = result.unwrap();
            match result {
-                PusPacketHandlerResult::Empty => (),
+                HandlingStatus::Empty => (),
                _ => panic!("unexpected result {result:?}"),
            }
        }

        pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
            assert!(result.is_ok());
            assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
        }

        pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
            assert!(result.is_ok());
            assert_eq!(result.unwrap(), HandlingStatus::Empty);
        }
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@ -1,19 +1,20 @@
 use std::sync::mpsc;

 use crate::pus::create_verification_reporter;
-use log::{error, warn};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
+use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;

-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};

 pub fn create_event_service_static(
    tm_sender: PacketSenderWithSharedPool,
@ -61,26 +62,52 @@ pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcI
        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    EventServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for EventServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.handler.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 5 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 5 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 5 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+    const SERVICE_ID: u8 = PusServiceId::Event as u8;
+
+    const SERVICE_STR: &'static str = "events";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let result = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp);
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
            }
        }
        HandlingStatus::HandledOne
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
@ -10,11 +9,12 @@ use satrs::pus::{
    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
+use satrs::res_code::ResultU16;
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::{hk, PusPacket};
+use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_HK_SERVICE;
 use satrs_example::config::{hk_err, tmtc_err};
@ -24,7 +24,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;

-use super::{HandlingStatus, PusTargetedRequestService};
+use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};

 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@ -33,8 +33,10 @@ pub struct HkReply {
 }

 #[derive(Clone, PartialEq, Debug)]
+#[allow(dead_code)]
 pub enum HkReplyVariant {
    Ack,
+    Failed(ResultU16),
 }

 #[derive(Default)]
@ -70,6 +72,15 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
                    .completion_success(tm_sender, started_token, time_stamp)
                    .expect("sending completion success verification failed");
            }
+            HkReplyVariant::Failed(failure_code) => {
+                verification_handler
+                    .completion_failure(
+                        tm_sender,
+                        started_token,
+                        FailParams::new(time_stamp, &failure_code, &[]),
+                    )
+                    .expect("sending completion success verification failed");
+            }
        };
        Ok(true)
    }
@ -297,45 +308,26 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
    >,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    HkServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for HkServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 3 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 3 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 3 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
+    const SERVICE_STR: &'static str = "housekeeping";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
        }
-        HandlingStatus::HandledOne
-    }
-
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 3: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    pub fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
    }
 }

--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@ -8,8 +8,8 @@ use satrs::pus::verification::{
 use satrs::pus::{
    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
-    PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
-    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
+    PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@ -19,7 +19,7 @@ use satrs::tmtc::{PacketAsVec, PacketInPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use satrs_example::TimeStampHelper;
+use satrs_example::TimestampHelper;
 use std::fmt::Debug;
 use std::sync::mpsc::{self, Sender};

@ -31,12 +31,6 @@ pub mod scheduler;
 pub mod stack;
 pub mod test;

-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum HandlingStatus {
-    Empty,
-    HandledOne,
-}
-
 pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
    let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
    // Every software component which needs to generate verification telemetry, gets a cloned
@ -50,16 +44,18 @@ pub struct PusTcMpscRouter {
    pub event_tc_sender: Sender<EcssTcAndToken>,
    pub sched_tc_sender: Sender<EcssTcAndToken>,
    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    #[allow(dead_code)]
    pub action_tc_sender: Sender<EcssTcAndToken>,
    pub mode_tc_sender: Sender<EcssTcAndToken>,
 }

 pub struct PusTcDistributor<TmSender: EcssTmSender> {
+    #[allow(dead_code)]
    pub id: ComponentId,
    pub tm_sender: TmSender,
    pub verif_reporter: VerificationReporter,
    pub pus_router: PusTcMpscRouter,
-    stamp_helper: TimeStampHelper,
+    stamp_helper: TimestampHelper,
 }

 impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
@ -72,14 +68,14 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                PUS_ROUTING_SERVICE.apid,
            ),
            pus_router,
-            stamp_helper: TimeStampHelper::default(),
+            stamp_helper: TimestampHelper::default(),
        }
    }

    pub fn handle_tc_packet_vec(
        &mut self,
        packet_as_vec: PacketAsVec,
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
        self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
    }

@ -87,7 +83,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
        &mut self,
        packet_in_pool: PacketInPool,
        pus_tc_copy: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
        self.handle_tc_generic(
            packet_in_pool.sender_id,
            Some(packet_in_pool.store_addr),
@ -100,7 +96,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
        sender_id: ComponentId,
        addr_opt: Option<PoolAddr>,
        raw_tc: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
        let pus_tc_result = PusTcReader::new(raw_tc);
        if pus_tc_result.is_err() {
            log::warn!(
@ -109,7 +105,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                pus_tc_result.unwrap_err()
            );
            log::warn!("raw data: {:x?}", raw_tc);
-            return Ok(PusPacketHandlerResult::RequestHandled);
+            // TODO: Shouldn't this be an error?
+            return Ok(HandlingStatus::HandledOne);
        }
        let pus_tc = pus_tc_result.unwrap().0;
        let init_token = self.verif_reporter.add_tc(&pus_tc);
@ -189,17 +186,65 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                }
            }
        }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
    }
 }

 pub trait TargetedPusService {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let result = self.poll_and_handle_next_tc(time_stamp);
+        if let Err(e) = result {
+            log::error!(
+                "PUS service {}({})packet handling error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on error cases.
+            return HandlingStatus::Empty;
+        }
+        result.unwrap()
+    }
+
+    fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.poll_and_handle_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!(
+                    "PUS servce {}({}): Handling reply failed with error {:?}",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    e
+                );
+                HandlingStatus::Empty
+            })
+    }
+
+    fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+    fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError>;
+
    fn check_for_request_timeouts(&mut self);
 }

+/// Generic trait for services which handle packets directly. Kept minimal right now because
+/// of the difficulty to allow flexible user code for these services..
+pub trait DirectPusService {
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus;
+}
+
 /// This is a generic handler class for all PUS services where a PUS telecommand is converted
 /// to a targeted request.
 ///
@ -297,10 +342,10 @@ where
    pub fn poll_and_handle_next_tc(
        &mut self,
        time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<HandlingStatus, PusPacketHandlingError> {
        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty);
        }
        let ecss_tc_and_token = possible_packet.unwrap();
        self.service_helper
@ -356,7 +401,7 @@ where
                return Err(e.into());
            }
        }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
    }

    fn handle_conversion_to_request_error(
@ -409,7 +454,7 @@ where
        }
    }

-    pub fn poll_and_check_next_reply(
+    pub fn poll_and_handle_next_reply(
        &mut self,
        time_stamp: &[u8],
    ) -> Result<HandlingStatus, EcssTmtcError> {
@ -439,20 +484,17 @@ where
            return Ok(());
        }
        let active_request = active_req_opt.unwrap();
-        let request_finished = self
-            .reply_handler
-            .handle_reply(
-                reply,
-                active_request,
-                &self.service_helper.common.tm_sender,
-                &self.service_helper.common.verif_reporter,
-                time_stamp,
-            )
-            .unwrap_or(false);
-        if request_finished {
+        let result = self.reply_handler.handle_reply(
+            reply,
+            active_request,
+            &self.service_helper.common.tm_sender,
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        );
+        if result.is_err() || (result.is_ok() && *result.as_ref().unwrap()) {
            self.active_request_map.remove(reply.request_id());
        }
-        Ok(())
+        result.map(|_| ())
    }

    pub fn check_for_request_timeouts(&mut self) {
--- a/satrs-example/src/pus/mode.rs
+++ b/satrs-example/src/pus/mode.rs
@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use std::sync::mpsc;
 use std::time::Duration;
@ -9,7 +8,7 @@ use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
    PusServiceHelper,
 };
 use satrs::request::GenericMessage;
@ -36,7 +35,7 @@ use satrs::{
    ComponentId,
 };
 use satrs_example::config::components::PUS_MODE_SERVICE;
-use satrs_example::config::{mode_err, tmtc_err};
+use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};

 use super::{
    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@ -272,44 +271,26 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
    for ModeServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS mode service: partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS mode service: invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS mode service: {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS mode service: packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
+    const SERVICE_STR: &'static str = "mode";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
        }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS action service: Handling reply failed with error {e:?}");
-                HandlingStatus::HandledOne
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
    }
 }
+
 #[cfg(test)]
 mod tests {
    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
--- a/satrs-example/src/pus/scheduler.rs
+++ b/satrs-example/src/pus/scheduler.rs
@ -2,20 +2,22 @@ use std::sync::mpsc;
 use std::time::Duration;

 use crate::pus::create_verification_reporter;
-use log::{error, info, warn};
+use log::info;
 use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
+use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
 use satrs::ComponentId;
 use satrs_example::config::components::PUS_SCHED_SERVICE;

-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};

 pub trait TcReleaser {
    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
@ -77,6 +79,61 @@ pub struct SchedulingServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
    pub tc_releaser: Box<dyn TcReleaser + Send>,
 }

+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for SchedulingServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = PusServiceId::Verification as u8;
+
+    const SERVICE_STR: &'static str = "verification";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+
+        let result = self.pus_11_handler.poll_and_handle_next_tc(
+            error_handler,
+            time_stamp,
+            &mut self.sched_tc_pool,
+        );
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+        }
+        HandlingStatus::HandledOne
+    }
+}
+
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
    SchedulingServiceWrapper<TmSender, TcInMemConverter>
 {
@ -103,31 +160,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
            info!("{released_tcs} TC(s) released from scheduler");
        }
    }
-
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self
-            .pus_11_handler
-            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
-        {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS11 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS11 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS11: Subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
-            }
-        }
-        HandlingStatus::HandledOne
-    }
 }

 pub fn create_scheduler_service_static(
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@ -7,10 +7,12 @@ use satrs::{

 use super::{
    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, HandlingStatus,
-    TargetedPusService,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, DirectPusService,
+    HandlingStatus, TargetedPusService,
 };

+// TODO: For better extensibility, we could create 2 vectors: One for direct PUS services and one
+// for targeted services..
 #[derive(new)]
 pub struct PusStack<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
    test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
@ -28,52 +30,28 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
        // Release all telecommands which reached their release time before calling the service
        // handlers.
        self.schedule_srv.release_tcs();
-        let time_stamp = cds::CdsTime::now_with_u16_days()
+        let timestamp = cds::CdsTime::now_with_u16_days()
            .expect("time stamp generation error")
            .to_vec()
            .unwrap();
+        let mut loop_count = 0_u32;
+        // Hot loop which will run continuously until all request and reply handling is done.
        loop {
            let mut nothing_to_do = true;
-            let mut is_srv_finished =
-                |_srv_id: u8,
-                 tc_handling_status: HandlingStatus,
-                 reply_handling_status: Option<HandlingStatus>| {
-                    if tc_handling_status == HandlingStatus::HandledOne
-                        || (reply_handling_status.is_some()
-                            && reply_handling_status.unwrap() == HandlingStatus::HandledOne)
-                    {
-                        nothing_to_do = false;
-                    }
-                };
-            is_srv_finished(
-                17,
-                self.test_srv.poll_and_handle_next_packet(&time_stamp),
-                None,
+            Self::direct_service_checker(&mut self.test_srv, &timestamp, &mut nothing_to_do);
+            Self::direct_service_checker(&mut self.schedule_srv, &timestamp, &mut nothing_to_do);
+            Self::direct_service_checker(&mut self.event_srv, &timestamp, &mut nothing_to_do);
+            Self::targeted_service_checker(
+                &mut self.action_srv_wrapper,
+                &timestamp,
+                &mut nothing_to_do,
            );
-            is_srv_finished(
-                11,
-                self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
-                None,
-            );
-            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
-            is_srv_finished(
-                8,
-                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(
-                    self.action_srv_wrapper
-                        .poll_and_handle_next_reply(&time_stamp),
-                ),
-            );
-            is_srv_finished(
-                3,
-                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
-            );
-            is_srv_finished(
-                200,
-                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
-                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
+            Self::targeted_service_checker(
+                &mut self.hk_srv_wrapper,
+                &timestamp,
+                &mut nothing_to_do,
            );
+            Self::targeted_service_checker(&mut self.mode_srv, &timestamp, &mut nothing_to_do);
            if nothing_to_do {
                // Timeout checking is only done once.
                self.action_srv_wrapper.check_for_request_timeouts();
@ -81,6 +59,37 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                self.mode_srv.check_for_request_timeouts();
                break;
            }
+            // Safety mechanism to avoid infinite loops.
+            loop_count += 1;
+            if loop_count >= 500 {
+                log::warn!("reached PUS stack loop count 500, breaking");
+                break;
+            }
+        }
+    }
+
+    pub fn direct_service_checker<S: DirectPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let handling_status = service.poll_and_handle_next_tc(timestamp);
+        if handling_status == HandlingStatus::HandledOne {
+            *nothing_to_do = false;
+        }
+    }
+
+    pub fn targeted_service_checker<S: TargetedPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
+        let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
+        if request_handling == HandlingStatus::HandledOne
+            || reply_handling == HandlingStatus::HandledOne
+        {
+            *nothing_to_do = false;
        }
    }
 }
--- a/satrs-example/src/pus/test.rs
+++ b/satrs-example/src/pus/test.rs
@ -1,29 +1,27 @@
 use crate::pus::create_verification_reporter;
-use log::{info, warn};
+use log::info;
 use satrs::event_man::{EventMessage, EventMessageU32};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
-use satrs::pus::EcssTcInSharedStoreConverter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
+    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
 };
+use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::PusPacket;
-use satrs::spacepackets::time::cds::CdsTime;
-use satrs::spacepackets::time::TimeWriter;
+use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_TEST_SERVICE;
 use satrs_example::config::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc;

-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};

 pub fn create_test_service_static(
    tm_sender: PacketSenderWithSharedPool,
    tc_pool: SharedStaticMemoryPool,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::SyncSender<EventMessageU32>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
@ -35,13 +33,13 @@ pub fn create_test_service_static(
    ));
    TestCustomServiceWrapper {
        handler: pus17_handler,
-        test_srv_event_sender: event_sender,
+        event_tx: event_sender,
    }
 }

 pub fn create_test_service_dynamic(
    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
-    event_sender: mpsc::Sender<EventMessageU32>,
+    event_sender: mpsc::SyncSender<EventMessageU32>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
@ -53,7 +51,7 @@ pub fn create_test_service_dynamic(
    ));
    TestCustomServiceWrapper {
        handler: pus17_handler,
-        test_srv_event_sender: event_sender,
+        event_tx: event_sender,
    }
 }

@ -61,33 +59,55 @@ pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
 {
    pub handler:
        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    pub test_srv_event_sender: mpsc::Sender<EventMessageU32>,
+    pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }

-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
-    TestCustomServiceWrapper<TmSender, TcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for TestCustomServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        let res = self.handler.poll_and_handle_next_tc(time_stamp);
-        if res.is_err() {
-            warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
-            return HandlingStatus::HandledOne;
+    const SERVICE_ID: u8 = PusServiceId::Test as u8;
+
+    const SERVICE_STR: &'static str = "test";
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let res = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, timestamp);
+        if let Err(e) = res {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
        }
        match res.unwrap() {
-            PusPacketHandlerResult::RequestHandled => {
-                info!("Received PUS ping command TC[17,1]");
-                info!("Sent ping reply PUS TM[17,2]");
+            DirectPusPacketHandlerResult::Handled(handling_status) => {
+                if handling_status == HandlingStatus::HandledOne {
+                    info!("Received PUS ping command TC[17,1]");
+                    info!("Sent ping reply PUS TM[17,2]");
+                }
+                return handling_status;
            }
-            PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
-                warn!(
-                    "Handled PUS ping command with partial success: {:?}",
-                    partial_err
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
                );
            }
-            PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                warn!("PUS17: Subservice {subservice} not implemented")
-            }
-            PusPacketHandlerResult::CustomSubservice(subservice, token) => {
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
                let (tc, _) = PusTcReader::new(
                    self.handler
                        .service_helper
@ -95,29 +115,34 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                        .tc_slice_raw(),
                )
                .unwrap();
-                let time_stamper = CdsTime::now_with_u16_days().unwrap();
-                let mut stamp_buf: [u8; 7] = [0; 7];
-                time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                if subservice == 128 {
-                    info!("Generating test event");
-                    self.test_srv_event_sender
+                    info!("generating test event");
+                    self.event_tx
                        .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
                        .expect("Sending test event failed");
-                    let start_token = self
-                        .handler
-                        .service_helper
-                        .verif_reporter()
-                        .start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
-                        .expect("Error sending start success");
-                    self.handler
-                        .service_helper
-                        .verif_reporter()
-                        .completion_success(
-                            self.handler.service_helper.tm_sender(),
-                            start_token,
-                            &stamp_buf,
-                        )
-                        .expect("Error sending completion success");
+                    match self.handler.service_helper.verif_reporter().start_success(
+                        self.handler.service_helper.tm_sender(),
+                        token,
+                        timestamp,
+                    ) {
+                        Ok(started_token) => {
+                            if let Err(e) = self
+                                .handler
+                                .service_helper
+                                .verif_reporter()
+                                .completion_success(
+                                    self.handler.service_helper.tm_sender(),
+                                    started_token,
+                                    timestamp,
+                                )
+                            {
+                                error_handler(&PartialPusHandlingError::Verification(e));
+                            }
+                        }
+                        Err(e) => {
+                            error_handler(&PartialPusHandlingError::Verification(e));
+                        }
+                    }
                } else {
                    let fail_data = [tc.subservice()];
                    self.handler
@ -127,7 +152,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                            self.handler.service_helper.tm_sender(),
                            token,
                            FailParams::new(
-                                &stamp_buf,
+                                timestamp,
                                &tmtc_err::INVALID_PUS_SUBSERVICE,
                                &fail_data,
                            ),
@ -135,7 +160,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                        .expect("Sending start failure verification failed");
                }
            }
-            PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
        }
        HandlingStatus::HandledOne
    }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Robin Müller	c5fa1955d7	Merge pull request 'Scheduling Table for std runtimes' (#210 ) from scheduling-table into main Reviewed-on: #210	2024-11-20 17:22:08 +01:00
Robin Mueller	c9708810e6	changelog	2024-11-20 17:21:54 +01:00
Robin Mueller	79d0c2e222	Scheduling Table for std runtimes	2024-11-20 17:20:42 +01:00
Robin Müller	8e87875c0e	Merge pull request 'use released satrs-shared' (#209 ) from use-released-satrs-shared into main Reviewed-on: #209	2024-11-15 12:15:06 +01:00
Robin Mueller	1ac6c02c06	use released satrs-shared	2024-11-15 12:14:33 +01:00
Robin Müller	6e7907522e	Merge pull request 'changelog satrs-shared' (#208 ) from satrs-shared-changelog into main Reviewed-on: #208	2024-11-15 12:08:27 +01:00
Robin Mueller	f747a5efdc	changelog satrs-shared	2024-11-15 12:07:32 +01:00
Robin Müller	6ffd55cec2	Merge pull request 'bump satrs-shared' (#207 ) from satrs-shared-v0.2.1 into main Reviewed-on: #207	2024-11-15 11:59:00 +01:00
Robin Mueller	5e51b3de42	bump satrs-shared	2024-11-15 11:52:48 +01:00
Robin Müller	bd059a2541	Merge pull request 'Bump dependecies' (#206 ) from bump-dependencies into main Reviewed-on: #206	2024-11-15 11:49:19 +01:00
Robin Mueller	1a4d764f25	bump dependencies	2024-11-15 11:37:14 +01:00
Robin Müller	b38c617fae	Merge pull request 'clippy fixes' (#205 ) from small-clippy-fix into main Reviewed-on: #205	2024-11-04 13:55:27 +01:00
Robin Mueller	edcd5491f1	clippy fixes	2024-11-04 13:51:36 +01:00
Robin Müller	b4cb034b73	Merge pull request 'Extract CFDP' (#202 ) from extract-cfdp into main Reviewed-on: #202	2024-11-04 12:19:32 +01:00
Robin Mueller	47c86aea5c	Extracted CFDP components	2024-11-04 12:18:41 +01:00
Robin Müller	c8bba48e76	Merge pull request 'bump spacepackets' (#204 ) from satrs-shared-spacepackets-bump into main Reviewed-on: #204	2024-11-04 12:07:12 +01:00
Robin Mueller	176da4838a	bump spacepackets	2024-11-04 12:06:10 +01:00
Robin Müller	8114195bc6	Merge pull request 'satrs-shared v0.2.0' (#203 ) from bump-satrs-shared into main Reviewed-on: #203	2024-11-04 11:51:20 +01:00
Robin Mueller	1726e34fa7	satrs-shared v0.2.0	2024-11-04 11:50:17 +01:00
Robin Müller	1f2d6c9474	Merge pull request 'another small documentation fix' (#199 ) from another-small-doc-fix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #199	2024-06-03 16:09:06 +02:00
Robin Mueller	9960930339	another small documentation fix Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-03 16:08:38 +02:00
Robin Müller	cb270964a1	Merge pull request 'small README fix' (#198 ) from small-readme-fix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #198	2024-06-03 16:02:33 +02:00
Robin Mueller	a45e634214	small README fix Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-06-03 15:52:57 +02:00
Robin Müller	9e4132706c	Merge pull request 'update README and book' (#197 ) from readme-and-book-updates into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #197	2024-06-03 15:32:24 +02:00
Robin Mueller	36d889a504	update README and book Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-03 15:31:43 +02:00
Robin Müller	97a6510af7	Merge pull request 'Integrate Simulator into Example' (#185 ) from sim-mgm-update into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #185	2024-06-03 15:25:08 +02:00
Robin Mueller	2e5d6a5c41	update example changelog Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-06-03 15:22:27 +02:00
Robin Mueller	29167736db	Integration of the mini simulator into the sat-rs example Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-06-03 15:18:23 +02:00
Robin Müller	a4c433a7be	Merge pull request 'fix sat-rs build by using released asynchronix build' (#196 ) from fix-minisim-deps into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #196	2024-06-02 00:10:19 +02:00
Robin Mueller	472a8ce0f9	fix sat-rs build by using released asynchronix build Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-06-02 00:09:08 +02:00
lkoester	e753319dac	Merge pull request 'Airbus BA ins Readme' (#195 ) from lkoester-patch-1 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #195 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2024-05-29 10:11:42 +02:00
lkoester	99dddf36f3	Airbus BA ins Readme Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Passt das in Flight Heritage? Ist ja nie geflogen aber heritage passt schon	2024-05-29 09:50:55 +02:00
Robin Müller	a819feeaa2	Merge pull request 'Update embedded examples' (#194 ) from update-embedded-examples into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #194	2024-05-25 13:07:29 +02:00
Robin Mueller	46ce3fc772	update folder name Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-05-25 12:35:26 +02:00
Robin Mueller	8d27bdf3bf	Update embedded examples Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-05-25 12:32:46 +02:00
Robin Müller	3d2a46f044	Merge pull request 'flight heritage segment in docs' (#193 ) from add-flight-heritage-docs into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #193	2024-05-22 19:13:18 +02:00
Robin Mueller	1f192af262	improve phrasing and links again	2024-05-22 19:11:43 +02:00
Robin Mueller	3f78c200ad	improve phrasing Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-05-22 19:09:43 +02:00
Robin Mueller	d73dfcdd67	flight heritage segment in docs Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-05-22 19:05:05 +02:00
Robin Müller	5cae0f7036	Merge pull request 'Heapless memory pool' (#191 ) from heapless-mem-pool into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #191	2024-05-22 13:16:29 +02:00
Robin Mueller	832250d211	minor improvements All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-22 12:55:50 +02:00
Robin Mueller	3c3b4349e8	that should do the job All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-21 19:48:56 +02:00
Robin Mueller	acf73e93b1	Introduce heapless memory pools Some checks failed Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-21 18:31:19 +02:00
Robin Müller	0b2d4f6187	Merge pull request 'satrs v0.2.1' (#190 ) from prep-satrs-v0.2.1 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #190	2024-05-19 13:19:23 +02:00
Robin Mueller	f7016b940a	changelog Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Rust/sat-rs/pipeline/pr-main There was a failure building this commit Details	2024-05-19 08:14:31 +02:00
Robin Mueller	397ecd0c40	prep patch release	2024-05-19 08:13:32 +02:00
Robin Müller	422f2c11ab	Merge pull request 'removed unsafe block which is not necessary' (#189 ) from remove-unnecessary-unsafe-block into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #189	2024-05-18 12:46:58 +02:00
Robin Müller	37e945fd91	Merge branch 'main' into remove-unnecessary-unsafe-block	2024-05-18 12:46:44 +02:00
Robin Müller	45379858f0	Merge pull request 'TCP server config default improvements' (#187 ) from tcp-server-cfg-improvements into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #187	2024-05-18 12:44:53 +02:00
Robin Müller	7c194ab543	Merge branch 'main' into tcp-server-cfg-improvements Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-05-18 12:44:42 +02:00
Robin Mueller	bca1d7292a	removed unsafe block which is not necessary All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-13 17:01:26 +02:00
Robin Müller	cdcb9cae1c	Merge pull request 'cross ref docs for events' (#188 ) from cross-ref-docs-for-events into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #188	2024-05-13 15:57:00 +02:00
Robin Mueller	9dcbd42862	cross ref docs All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-13 15:36:09 +02:00
Robin Mueller	da05efc16d	TCP server config default improvements Some checks are pending Rust/sat-rs/pipeline/head Build started... Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-13 15:31:51 +02:00
Robin Müller	e38e25a998	Merge pull request 'update the satrs example graph' (#186 ) from satrs-example-graph-update into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #186	2024-05-13 15:29:39 +02:00
Robin Mueller	14b381cf4a	update the satrs example graph All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-10 17:03:46 +02:00
Robin Müller	3746e9ebb0	Merge pull request 'Add timestamp to SimRequest' (#140 ) from add-timestamp-to-sim-request into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #140	2024-05-08 14:58:13 +02:00
Robin Mueller	d2fc783562	Merge remote-tracking branch 'origin/main' into add-timestamp-to-sim-request Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-05-08 14:57:12 +02:00
Robin Müller	282f799203	Merge pull request 'prep v0.2.0' (#184 ) from prep_v0.2.0 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #184	2024-05-02 14:57:14 +02:00
Robin Mueller	46dbb4309b	new clippy check Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-05-02 14:44:22 +02:00
Robin Mueller	42d1257e83	prepare next release v0.2.0 Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-05-02 14:39:30 +02:00
Robin Müller	583f6ce4d2	Merge pull request 'small robustness fix' (#183 ) from robustness-fix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #183	2024-05-02 13:41:55 +02:00
Robin Mueller	408803fe86	small robustness fix Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-05-02 13:41:27 +02:00
Robin Müller	9ffe4d0ae0	Merge pull request 'smaller improvements' (#182 ) from smaller-improvements into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #182	2024-05-02 12:28:39 +02:00
Robin Mueller	e37061dcf0	smaller improvements	2024-05-02 12:28:09 +02:00
Robin Müller	3a2ac11407	Merge pull request 'bounded the PUS stack hot loop' (#181 ) from pus-hot-loop-bounding into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #181	2024-05-02 12:02:02 +02:00
Robin Mueller	23327a7786	bounded the PUS stack hot loop Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-05-02 12:01:24 +02:00
Robin Müller	89d5a1022f	Merge pull request 'optimize PUS stack code' (#180 ) from optimize-pus-stack-code into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #180	2024-05-02 11:59:26 +02:00
Robin Mueller	a00c843698	optimize PUS stack code Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-05-02 11:58:46 +02:00
Robin Müller	c586fd7fef	Merge pull request 'try unifying some direct PUS handler code' (#179 ) from unify-some-example-code into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #179	2024-05-02 11:29:11 +02:00
Robin Mueller	7e78e70a17	try unifying some direct PUS handler code All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-05-02 11:14:05 +02:00
Robin Müller	424dfc439c	Merge pull request 'simplified PUS stack' (#178 ) from simplify-pus-stack into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #178	2024-05-02 10:01:16 +02:00
Robin Mueller	45eb2f1343	cargo fmt All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-05-01 21:16:26 +02:00
Robin Mueller	736eb74e66	simplified PUS stack Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-05-01 21:13:08 +02:00
Robin Müller	29f71c2a57	Merge pull request 'Reworked generic parameter handling for PUS service 1 and 5' (#175 ) from rework-generic-params-for-pus into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #175	2024-04-30 15:42:05 +02:00
Robin Müller	f0d08b65a4	Merge branch 'main' into rework-generic-params-for-pus All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-30 13:35:08 +02:00
Robin Müller	c7a74a844c	Merge pull request 'renamed thread name' (#176 ) from small-tweak into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #176	2024-04-30 13:31:46 +02:00
Robin Mueller	9c60427f89	Reworked generic parameter handling for PUS service 1 and 5 Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-30 13:29:55 +02:00
Robin Mueller	958ab9bab6	renamed thread name All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-25 11:11:31 +02:00
Robin Müller	312849bddb	Merge pull request 'More improvements for Event API' (#173 ) from improve-event-api into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #173	2024-04-24 19:34:33 +02:00
Robin Mueller	b0159a3ba7	prep next release candidate All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-24 19:18:45 +02:00
Robin Mueller	c477739f6d	more improvements for API, tests for example event module All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-24 18:50:08 +02:00
Robin Mueller	b7ce039406	add optional defmt support for events All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-24 18:36:00 +02:00
Robin Müller	4736d40997	Merge pull request 'simplified event management' (#172 ) from simplify-event-management into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #172	2024-04-24 15:58:00 +02:00
Robin Mueller	5ec5124ea3	Updated events modules and docs All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-24 14:30:45 +02:00
Robin Müller	5e43259d4f	Merge branch 'main' into add-timestamp-to-sim-request All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-23 16:36:30 +02:00
Robin Müller	bfaddd0ebb	Merge pull request 'prep next release' (#171 ) from pre-v0.2.0-rc.4 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #171	2024-04-23 16:32:03 +02:00
Robin Mueller	423a068736	prep next release All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-23 14:55:19 +02:00
Robin Müller	8022af1bf2	Merge pull request 'update Python client for example' (#170 ) from update-example-pyclient into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #170	2024-04-23 14:52:04 +02:00
Robin Mueller	acd2260dfd	update Python client for example All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-23 14:22:50 +02:00
Robin Müller	e5ee698dc4	Merge pull request 'TCP server improvements' (#169 ) from tcp-ip-improvements into main Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Reviewed-on: #169	2024-04-23 13:21:41 +02:00
Robin Mueller	e8907c74d4	changelog All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-23 11:23:00 +02:00
Robin Mueller	536051e05b	improvements and fixes All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-04-22 20:29:14 +02:00
Robin Müller	701db659e9	Merge pull request 'formatting' (#168 ) from fmt into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #168	2024-04-22 15:47:58 +02:00
Robin Mueller	4b8e54b91b	formatting Some checks are pending Rust/sat-rs/pipeline/head This commit looks good Details Rust/sat-rs/pipeline/pr-main Build started... Details	2024-04-22 10:42:49 +02:00
Robin Müller	870d60cfd6	Merge pull request 'bugfix and improvements for CCSDS SP decoder' (#167 ) from ccsds-decoder-bugfix into main Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Reviewed-on: #167	2024-04-22 10:23:12 +02:00
Robin Mueller	9e62e4292c	bugfix and improvements for CCSDS SP decoder Some checks are pending Rust/sat-rs/pipeline/pr-main Build started... Details	2024-04-20 11:19:46 +02:00
Robin Müller	b2e77fbc09	Merge pull request 'requires another hotfix' (#166 ) from and-another-docs-rs-hotfix into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #166	2024-04-17 20:42:09 +02:00
Robin Mueller	5371928496	docs_rs build argument hotfix Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-04-17 20:41:30 +02:00
Robin Müller	975cd927f4	Merge branch 'main' into add-timestamp-to-sim-request All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-04-09 17:27:57 +02:00
Robin Müller	9039c1b59a	Merge branch 'main' into add-timestamp-to-sim-request All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-03-25 16:14:04 +01:00
Robin Mueller	972bf19188	cargo fmt Some checks are pending Rust/sat-rs/pipeline/head Build started... Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-03-13 12:03:11 +01:00
Robin Mueller	9d711d2b73	add fern logging Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-03-13 10:49:24 +01:00
Robin Mueller	d0005cdd63	this works Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-03-13 10:36:08 +01:00
Robin Mueller	f00e6cf50c	we require an asynchronix update here I guess Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-03-12 18:25:21 +01:00